Engineering Mechanics Dynamic Bedford ch18

Problem 18.1 A horizontal force F = 30 lb is applied to the 230-lb refrigerator as shown. Friction is negligible.
(a) (b) What is the magnitude of the refrigerators acceleration? What normal forces are exerted on the refrigerator by the oor at A and B ?
F
60 in 28 in A 14 in 14 in
Solution: Assume that the refrigerator rolls without tipping. We have the following equations of motion.
Fx : (30 lb) = 230 lb 32.2 ft/s2 a
F = 30 lb 230 lb 60 in.
Fy : A + B 230 lb = 0 MG : (30 lb)(32 in.) A(14 in.) + B(14 in.) = 0 Solving we nd
28 in.
(a) a = 4.2 ft/s
2
A
(b) A = 80.7 lb, B = 149.3 lb
Since A > 0 and B > 0 then our assumption is correct.
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Problem 18.2 Solve Problem 18.1 if the coefcient of kinetic friction at A and B is k = 0.1. Solution: Assume sliding without tipping
Fx : (30 lb) (0.1)(A + B) = Fy : A + B 230 lb = 0 MG : (30 lb)(32 in.) A(14 in.) + B(14 in.) (0.1)(A + B)(28 in.) = 0 Solving, we nd (a) a = 0.98 ft/s2 A = 57.7 lb, B = 172 lb 230 lb 32.2 ft/s2
F = 30 lb
a
230 lb 60 in.
28 in.
A
N A
B
B
(b)
Problem 18.3 As the airplane begins its takeoff run, the normal forces exerted on its tires by the runway at A and B are NA = 720 lb and NB = 1660 lb. What is the magnitude of the airplanes acceleration?
4 ft
3 ft W A 5 ft 2 ft B
g = 32.2 ft/s2
Solution: We are given that NA = 720 lb, NB = 1660 lb. We use

T
There are three unknowns (the weight W , the thrust T , and the acceleration a ). Fx : T = W a g
Fy : N A + N B W = 0
NA
MG : T (1 ft) NA (5 ft) + NB (2 ft) = 0 Solving we nd T = 280 lb, W = 2380 lb, a = 3.79 ft/s2 a = 3.79 ft/s2
NB
Problem 18.4 The mass of the Boeing 777 is 300,000 kg. As it begins its takeoff run, its two engines exert a total horizontal thrust T = 670 kN. Neglect horizontal forces exerted on the tires. (a) (b) What is the magnitude of the airplanes acceleration? What normal forces are exerted on the tires at A and B ?
A
T 3m 26 m B 2m
5m
Solution: We are given

m = 300,000 kg, T = 670 kN, g = 9.81 m/s Fx : T = ma Fy : NA + NB mg = 0 MG : T (2 m) NA (24 m) + NB (2 m) = 0 Solving we nd (a) a = 2.23 m/s2 NA = 175 kN, NB = 2770 kN
2
mg
NA
NB
(b)
Problem 18.5 The crane moves to the right with constant acceleration, and the 800-kg load moves without swinging. (a) (b) What is the acceleration of the crane and load? What are the tensions in the cables attached at A and B ?
5 A 1m 5 B
1.5 m
1.5 m
Solution: From Newtons second law: Fx = 800a N. The sum of the forces on the load:
Fx = FA sin 5 + FB sin 5 800a = 0. Fy = FA cos 5 + FB cos 5 800g = 0. The sum of the moments about the center of mass: MCM = 1.5FA cos 5 + 1.5FB cos 5 FA sin 5 FB sin 5 = 0. Solve these three simultaneous equations: a = 0.858 m/s2 , FA = 3709 N , FB = 4169 N

5 FA 1.0 m mg 1.5 m 1.5 m
5 FB
Problem 18.6 The total weight of the go-cart and driver is 240 lb. The location of their combined center of mass is shown. The rear drive wheels together exert a 24lb horizontal force on the track. Neglect the horizontal forces exerted on the front wheels. (a) (b) What is the magnitude of the go-carts acceleration? What normal forces are exerted on the tires at A and B ?
15 in 6 in A 16 in 60 in 4 in B
Solution:
Fx : (24 lb) = 240 lb 32.2 ft/s2 a
Fy : NA + NB (240 lb) = 0 MG : NA (16 in.) + NB (44 in.) + (24 lb)(15 in.) = 0 Solving we nd
240 lb
24 lb
(a) a = 3.22 ft/s
2
(b)
NA = 182 lb, NB = 58 lb
NA
NB
Problem 18.7 The total weight of the bicycle and rider is 160 lb. The location of their combined center of mass is shown. The dimensions shown are b = 21 in., c = 16 in., and h = 38 in. What is the largest acceleration the bicycle can have without the front wheel leaving the ground? Neglect the horizontal force exerted on the front wheel by the road. Strategy: You want to determine the value of the acceleration that causes the normal force exerted on the front wheel by the road to equal zero.
h
A b c
Solution: Given: b = 21 in., c = 16 in., h = 38 in.

Find: a so that NA = 0 Fx : F B = 160 lb 32.2 ft/s2 a
160 lb
Fy : NA + NB (160 lb) = 0 MG : NA b + NB c FB h = 0 NA = 0 Solving we nd NB = 160 lb, FB = 67.4 lb, a = 13.6 ft/s2
h b c FB
NA
NB
Problem 18.8 The total mass of the bicycle and rider is 72 kg. The location of their combined center of mass is shown. The dimensions shown are b = 530 mm, c = 400 mm, and h = 960 mm. If the bicycle is traveling at 5 m/s and the rider engages the brakes, achieving the largest deceleration for which the rear wheel will not leave the ground, how long does it take the bicycle to stop, and what distance does it travel during that time? Solution: Given:
m = 72 kg, b = 530 mm c = 400 mm, h = 960 mm Find: a so that NB = 0 Fx : FA = ma Fy : NA + NB mg = 0
mg
h
MG : NA b + NB c + FA h = 0 NB = 0 Solving we nd NA = 706 N, FA = 390 N, a = 5.42 m/s2 Now do the kinematics a = 5.42 m/s2 v = (5.42 m/s2 )t + (5 m/s) s = (2.71 m/s2 )t 2 + (5 m/s)t When the bicycle stops v = (5.42 m/s2 )t + (5 m/s) = 0 t = 0.923 s The bicycle has traveled s = (2.71 m/s2 )t 2 + (5 m/s)t s = 2.31 m
FA
NA
NB
Problem 18.9 The combined mass of the motorcycle and rider is 160 kg. The rear wheel exerts a 400-N horizontal force on the road, and you can neglect the horizontal force exerted by the front wheel. Modeling the motorcycle and its wheels as a rigid body, determine (a) the motorcycles acceleration and (b) the normal forces exerted on the road by the rear and front wheels.
660 mm
660 mm 1500 mm
Solution: The friction force on the rear wheel is F = 400 N. From Newtons second law, the acceleration is
a= F 400 = = 2.5 m/s2 . m 160
The sum of the forces in the y direction is Fy = NA + NB mg = 0. The moment about the center of mass is MCM = 0.66NA + (1.5 0.66)NB + 0.66(400) = 0. Solve these two equations in two unknowns: NA = 1055 N , NB = 514.6 N
mg NA NB
Problem 18.10 The moment of inertia of the disk about O is 22 kg-m2 . At t = 0, the stationary disk is subjected to a constant 50 N-m torque. (a) (b) What is the magnitude of the disks angular velocity at t = 5 s? Through how many revolutions does the disk rotate from t = 0 to t = 5 s?
O
50 N-m
Solution: The dynamics

MO : (50 Nm) = (22 kg-m2 ) = 2.27 rad/s2 Kinematics = 2.27 m/s2 , = (2.27 m/s2 )t, = (1.14 m/s2 )t 2 At t = 5 s, (a) = 11.4 rad/s 1 rev 2 rad
(b)
= 28.4 rad
= 4.52 rev
Problem 18.11 During extravehicular activity, an astronaut res a thruster of his maneuvering unit, exerting a force T = 14.2 N for 1 s. It requires 60 s from the time the thruster is red for him to rotate through one revolution. If you model the astronaut and maneuvering unit as a rigid body, what is the moment of inertia about their center of mass?
T 300 mm
Solution: The angular velocity is

= t = 2 60 rad/s.
Since the thruster res for one second, = 2 rad/s2 . 60
The sum of the moments: MCM = T r = 14.2(0.3) = 4.26 N-m. From the equation of angular motion I = MCM = 4.26 N-m,
from which I= 4.26 = 40.7 kg-m2 2 60
Problem 18.12 The moment of inertia of the helicopters rotor is 420 slug-ft2 . The rotor starts from rest at t = 0. The torque exerted on it by the engine is given as a function of time by 500 20t ft-lb. (a) (b) What is the magnitude of the rotors angular velocity at t = 10 s? Through how many revolutions does the rotor rotate from t = 0 to t = 10 s?
Solution: The dynamics and kinematics:

M : (500 ft-lb [20 ft-lb/s]t) = (420 lb-ft-s2 ) = (1.19 rad/s2 ) (0.0476 rad/s3 )t = (1.19 rad/s2 )t (0.0238 rad/s3 )t 2 = (0.595 rad/s2 )t 2 (0.00794 rad/s3 )t 3 At t = 10 s (a) = 9.52 rad/s 1 rev 2 rad
(b)
= 51.6 rad
= 8.21 rev
Problem 18.13 The moment of inertia of the robot manipulator arm about the vertical y axis is 10 kg-m2 . The moment of inertia of the 14-kg casting held by the arm about the y axis is 1.2 kg-m2 . The system is initially stationary. At t = 0, the arm is subjected to a torque about the y axis that is given as a function of time by 220 + 100t N-m. How long does it take the arm to undergo one revolution?
y Manipulator arm
y'
Casting 0.8 m
Solution: The moment of inertia of the structure about the y axis is Iy = (10 kg-m2 ) + (1.2 kg-m2 ) + (14 kg)(0.8 m)2 = 20.16 kg-m2 My : (220 N-m) + (100 N-m/s)t = (20.16 kg-m2 ) = Thus = (10.91 rad/s2 ) + (4.96 rad/s3 )t = (10.91 rad/s2 )t + (2.48 rad/s3 )t 2 = (5.46 rad/s2 )t 2 + (0.827 rad/s3 )t 3 We set = 1 rev = 2 rad and solve to nd t = 1.00 s 220 rad/s2 + 20.16 100 rad/s3 t 20.16
Problem 18.14 The moment of inertia of the windtunnel fan is 225 kg-m2 . The fan starts from rest. The torque exerted on it by the engine is given as a function of the angular velocity of the fan by T = 140 0.022 N-m. (a) (b) When the fan has turned 620 revolutions, what is its angular velocity in rpm (revolutions per minute)? What maximum angular velocity in rpm does the fan attain?
Strategy: By writing the equation of angular motion, determine the angular acceleration of the fan in terms of its angular velocity. Then use the chain rule: = Solution:
M : (140 N-m) (0.02 N-m/s2 )2 = (225 kg-m2 ) = 140 rad/s2 225 0.02 rad/s4 2 225
d d d d = = . dt d dt d
= (0.622 rad/s2 ) (0.0000889 rad/s4 )2 d = (0.622 rad/s2 ) (0.0000889 rad/s4 )2 d d (0.622 rad/s ) (0.0000889 rad/s
2 4
(a)
=
0
)2
=
0
620(2 ) rad
Solving we nd 1 rev 2 rad 60 s 1 min
= 59.1 rad/s
= 565 rpm
(b)
The maximum angular velocity occurs when the angular acceleration is zero = (0.622 rad/s2 ) (0.0000889 rad/s4 )2 = 0 = 83.7 rad/s 1 rev 2 rad 60 s 1 min = 799 rpm
Problem 18.15 The gears A and B can turn freely on their pin supports. Their moments of inertia are IA = 0.002 kg-m2 and IB = 0.006 kg-m2 . They are initially stationary, and at t = 0 a constant couple M = 2 N-m is applied to gear B . How many revolutions has gear A turned at t = 4 s?
B A 60 mm
90 mm
Solution: Use the usual conventions of directions for angles and angular accelerations. The radius of gear A is 60 mm, and the radius of gear B is 90 mm. The tangential accelerations at the point of contact are equal: rA A = rB B . From the equation of angular motion
M F rB = IB B , and F rA = IA A , from which M+ rB rA IA A = IB B rA rB rB rA
A
M B F F
2=
IB A 2
IA A ,
A =
rA rB
IB +
rB rA
= 285.7 rad/s2 IA
The angle of revolution in 4 seconds is n= A (42 ) = 2285.7 rad, 2
from which N= n = 363.8 revs 2
Problem 18.16 The disks A, B , and C do not slip relative to each other at their points of contact. Their masses are mA = 4 kg, mB = 16 kg, and mC = 9 kg. They are initially stationary. At t = 0, a constant 10 N-m counterclockwise couple is applied to disk A. What is the angular velocity of disk C at t = 5 s?
10 N-m 0.4 m 0.2 m A B 0.3 m C
Solution: The FBDs

The dynamics MA : (10 N-m) F1 (0.2 m) = 1 (4 kg)(0.2 m)2 A 2
10 Nm
F1
F2
B
MB : F1 (0.4 m) + F2 (0.4 m) = MC : F2 (0.3 m) = 1 (16 kg)(0.4 m)2 B 2
C F2
F1
1 (9 kg)(0.3 m)2 C 2
The kinematic constraints A (0.2 m) = B (0.4 m), B (0.4 m) = C (0.3 m) Solving ve equations for ve unknowns we nd F1 = 43.1 N, F2 = 15.5 N A = 17.2 rad/s2 , B = 8.62 rad/s2 , C = 11.5 rad/s2 Kinematics for gear C C = 11.5 rad/s2 , = (11.5 rad/s2 )t, = (5.75 rad/s2 )t 2 At t = 5 s we have = 57.5 rad/s CCW
Problem 18.17 The moment of inertia of the pulley is 0.4 slug-ft2 . The 5-lb weight slides on the smooth horizontal surface. If the system starts from rest, determine how far to the right the 5-lb weight moves in 1 s in each case.
5 lb
5 lb
6 in 2 lb (a)
6 in 2 lb (b)
Solution:
5 lb
(a) The dynamics:
T
Fx : T = 5 lb 32.2 ft/s2 a
M:T
6 6 ft (2 lb) ft = (0.4 lb-s2 -ft) 12 12 a= 6 ft 12
N 2 lb
The kinematic constraint: Solving we nd
5 lb T1
a = 1.14 ft/s2 , T = 0.177 lb, = 2.28 rad/s2 The kinematics: a = 1.14 ft/s2 , v = (1.14 ft/s2 )t, s = (0.570 ft/s2 )t 2 At t = 1 s we have (b) The dynamics Fx : T 1 = 5 lb 32.2 ft/s2 a 6 ft = (0.4 lb-s2 -ft) 12 2 lb 32.2 ft/s2 6 ft 12 a s = 0.570 ft
N T2
M : T1
6 ft T2 12
2 lb
Fy : T2 (2 lb) =
The kinematic constraint: Solving we nd
a=
a = 1.10 ft/s2 , T1 = 0.171 lb, T2 = 1.93 lb, = 2.20 rad/s2 The kinematics: a = 1.10 ft/s2 , v = (1.10 ft/s2 )t, s = (0.550 ft/s2 )t 2 At t = 1 s we have s = 0.550 ft
Problem 18.18 The masses of the slender bar and disk are 5 kg and 10 kg, respectively. The coefcient of kinetic friction between the disk and the horizontal surface is k = 0.1. Determine the disks angular acceleration if it is subjected to (a) an 8 N-m counterclockwise couple; (b) an 8 N-m clockwise couple.
30
1.2 m
0.4 m
Solution:
d = 0.6 cos 30 h = 0.6 sin 30 mB = 5 kg mD = 10 kg
2 ID = 1 2 mD R
Ay Ax
d A 30
h mBg By Bx
R = 0.4 m ID = 0.8 kg-m2 k = 0.1 Mc = 8 N-m Bar: Fx : Fy : MA : Disk: Fx : Fy : MB : Bx k ND = 0 By mD g + ND = 0 Mc Rk ND = ID Ax + Bx = 0 Ay + By mB g = 0 dmB g + 2dBy + 2hBx = 0
ND Mc mDg
Bx
By
k ND
See solution to Problem 18.18(a). There are two changes. The value for Mc becomes 8 N-m and the direction of the friction force changes. The equations for the disk become Fx : Fy : Bx + k ND = 0 (changed) By mD g + ND = 0 Mc + Rk ND = ID (unchanged) (changed)
6 eqns in 6 unknowns (Ax , Ay , Bx , By , ND , ) Solving, Ax = 13.01 N, Bx = 13.01 N, ND = 130.14 N = 3.49 rad/s2 (counterclockwise) Ay = 17.01 N By = 32.04 N MB :
Note the sign on Mc in the equation did not changed because we changed the numerical value. Solving the six eqns, we get Ax = 11.59 N, Bx = 11.59 N, ND = 115.9 N = 4.20 rad/s2 (clockwise) Ay = 31.22 N By = 17.83 N
Problem 18.19 The 5-kg slender bar is released from rest in the horizontal position shown. Determine the magnitude of the bars angular velocity when it has fallen to the vertical position. Strategy: By drawing a free-body diagram of the bar when it has fallen through an arbitrary angle and using the equation of angular motion, determine the bars angular acceleration as a function of . Then apply the chain rule: d d d d = = = . dt d dt d Solution:
1 MO : m(9.81 m/s )(0.6 m) sin = m(1.2 m)2 3
2
1.2 m
Oy Ox
=
0
d = (12.3 rad/s2 ) sin d

/2 0
d =
(24.5 rad/s2 ) sin d
mg
/2
2 2
= (12.3 rad/s2 )[cos ]0 = 4.95 rad/s
= 12.3 rad/s2
Thus
Problem 18.20 The objects consist of identical 3-ft, 10-lb bars welded together. If they are released from rest in the positions shown, what are their angular accelerations and what are the components of the reactions at A at that instant? (The y axes are vertical.)
(a)
y 45
(b)
Solution: The angular velocity = 0 at the instant of interest since the system is released from rest. The moment of inertia of a slender rod about the end is Iend = mL2 /3. The moment of inertia about the center of the slender rod is
Icenter = 1 mL2 . 12
Ay
Ax 2Wb
(a) The moment of inertia of system (a) about A is IA = mL2 1 + 1 1 + 3 12 = 3.96 slug-ft2 .
XC
12 + 4 + 1 10 (32 ) 32.17 12
The reaction at A: Ax = 0, Ay = 2Wb + 2Wb g ay = 20 + 20 (25.5) = 4.12 lb . 32.17
The center of mass of the system is m xC = L + mL 2 = 2.25 ft. 2m
(b) The moment of inertia of system (b) about A is IA = mL2 1 + 1 1 + 3 12 = 3.96 slug-ft2 .
The moment about A is i M = rC/A 2mgj = xC 0 = 2mg xC k = 45k ft-lb. From the equation of angular motion, M = IA , from which = M 45 = = 11.4 rad/s2 . IA 3.96 j yC 2mg k 0 0
12 + 4 + 1 10 (32 ) 32.17 12
The center of mass of the system is xC = m(L/2) + mL = 2.25 ft. 2m
These are identical with the results of part (a), from which = 11.4 rad/s2 , Ay = 2Wb + (2Wb /g)ay = 4.12 lb, and Ax = 0
The reactions at A are obtained from Newtons second law: Ay 2Wb = 2Wb ay , g Ax = 2Wb ax , g
where ax , ay are the accelerations at the center of mass of the system. From the kinematic relationships: aCM = rC/A 2 rC/A from which, since = 0, i = 0 xC j k 0 0 0
aCM = rC/A
= xC j = 25.55j ft/s2 .
Problem 18.21 The object consists of the 2-kg slender bar ABC welded to the 3-kg slender bar BDE. The y axis is vertical. The object is released from rest in the position shown. Determine its angular acceleration and the components of the force exerted on the object by the pin at D at the instant it is released.
A
0.2 m
B
0.2 m 0.4 m
D
0.2 m
Solution: The center of mass is located to the left of point D a

distance d= (3 kg)(0.1 m) + (2 kg)(0.4 m) = 0.22 m. 5 kg
Dy
The moment of inertia about point O is ID = 1 (2 kg)(0.4 m)2 + (2 kg)(0.4 m)2 12 + 1 (3 kg)(0.6 m)2 + (3 kg)(0.1 m)2 = 0.467 kg-m2 12
Dx
(5 kg)(9.81 m/s2)
The FBD Dynamics equations MD : (5 kg)(9.81 m/s2 )(0.22 m) = (0.467 kg-m2 ) Fx : Dx = 0 Fy : Dy (5 kg)(9.81 m/s2 ) = (5 kg)a Kinematic constraint: Solving we nd Dx = 0, Dy = 23.6 N, = 23.1 rad/s CCW a = (0.22 m)
Problem 18.22 Determine the angular acceleration and the components of the force exerted on the object in Problem 18.21 by the pin at D at the instant the bar BDE has fallen to the vertical position. Solution: At an arbitrary angle we have
MD : (5 kg)(9.81 m/s )(0.22 m) sin = (0.467 kg-m )
2 2
Dy Dx
d = (23.1 rad/s2 ) sin = d

0
d =
0
/2
(23.1 rad/s2 ) sin d
2 /2 = (23.1 rad/s2 )[cos ]0 = 23.1 rad/s2 2 2 = 46.2 s2 In the vertical position we have the dynamic equations MD : 0 = (0.467 kg-m2 ) Fy : Dy (5 kg)(9.81 m/s2 ) = may Fx : Dx = max and the kinematic constraints ax = (0.22 m) ay = (0.22 m)2 Solving we nd ax = = Dx = 0, Dy = 99.9 N
(5 kg)(9.81 m/s2)
Problem 18.23 For what value of x is the horizontal bars angular acceleration a maximum, and what is the maximum angular acceleration?
m x l
1 mL2 . The 12 moment about the pin is M = mgx . From the equation of angular motion, I = mgx , from which
Solution: The moment of inertia is I = mx 2 +
= gx x 2 +
L2 12
Take the derivative: d L2 = 0 = g x2 + dx 12 Solve: L x= , 12 3g = L

1
1 2x 2 x 2 +
L2 12
and
max
Problem 18.24 Model the arm ABC as a single rigid body. Its mass is 300 kg, and the moment of inertia about its center of mass is I = 360 kg-m2 . If point A is stationary and the angular acceleration of the arm is 0.6 rad/s2 counterclockwise, what force does the hydraulic cylinder exert on the arm at B ? (The arm has two hydraulic cylinders, one on each side of the vehicle. You are to determine the total force exerted by the two cylinders.)
y 1.80 m 1.40 m B A 0.70 m 0.30 m 0.80 m x
Solution: The angle of the hydraulic cylinder with the horizontal

is = tan1 1.5 1.4 = 47 .
Ay mg F
The moment of inertia about A is IA = 360 + (1.82 + 1.12 )(300) = 1695 kg-m2 . The moment is the sum of the moments exerted by the cylinder and the weight of the arm: M = rAB F + rCM mg. i M = 1.4 F cos j 0.8 F sin k i 0 + 1.8 0 0 j 1.1 mg k 0 0
Ax
M = (0.4776F 5297.4)k (N-m). From the equation of angular motion: M = IA , from which (0.4776F 5297.4)k = 1695(0.6)k, and F = 13220 N
Problem 18.25 The mass of the trucks bed is 2500 kg and its moment of inertia about O is 78,000 kg-m2 . At the instant shown, the coordinates of the center of mass of the bed are (3, 3.75) m and the coordinates of point B are (4.5, 3.5) m. If the angular acceleration of the bed is 0.5 rad/s2 in the clockwise direction, what is the magnitude of the force exerted on the bed at B by the hydraulic cylinder AB ?
O
B 30
A x
Solution:
mg
= 0.5k rad/s2 rG/O = 3i + 3.75j m
G
F = F cos 30 i + F sin 30 j rB/O = 4.5i + 3.5j m Fx : Ox F cos 30 = 0 Fy : Oy + F sin 30 mg = 0 + M0 :

B rG/O
(1) (2)
Ox
rB/o x
rG/O (mg j) + rB/O F = I0
Oy
where rG/O (mg j) = 3 mgk rB/O F = (4.5 F sin 30 + 3 F cos 30 )k (3 mg + 4.5 F sin 30 + 3 F cos 30 )k = I0 (0.5k) (3) where I0 = 78000 kg-m2 Solving Eqns. 1, 2, and 3, we get Ox = 5.70 kN, Oy = 21.3 kN, F = 6.55 kN.
Problem 18.26 Arm BC has a mass of 12 kg and the moment of inertia about its center of mass is 3 kg-m2 . Point B is stationary and arm BC has a constant counterclockwise angular velocity of 2 rad/s. At the instant shown, what are the couple and the components of force exerted on arm BC at B ?
C
0 30 m m
40 A B
700 mm
Solution: Since the angular acceleration of arm BC is zero, the

sum of the moments about the xed point B must be zero. Let MB be the couple exerted by the support at B . Then i mg = MB + 0.3 cos 40 0 j 0.3 sin 40 117.7 k 0 = 0. 0
MB + rCM/B
MB = 27.05k (N-m) is the couple exerted at B . From Newtons second law: Bx = max , By mg = may where ax , ay are the accelerations of the center of mass. From kinematics: a = rCM/O 2 rCM/O = (22 )(i0.3 cos 40 + j0.3 sin 40 ) = 0.919i 0.771j (m/s2 ), where the angular acceleration is zero from the problem statement. Substitute into Newtons second law to obtain the reactions at B : Bx = 11.0 N , By = 108.5 N .
Problem 18.27 Arm BC has a mass of 12 kg and the moment of inertia about its center of mass is 3 kg-m2 . At the instant shown, arm AB has a constant clockwise angular velocity of 2 rad/s and arm BC has counterclockwise angular velocity of 2 rad/s and a clockwise angular acceleration of 4 rad/s2 . What are the couple and the components of force exerted on arm BC at B ? Solution: Because the point B is accelerating, the equations of angular motion must be written about the center of mass of arm BC . The vector distances from A to B and B to G, respectively, are
By
rB/A = rB rA = 0.7i, rG/B = 0.3 cos(40 )i + 0.3 sin(40 )j = 0.2298i + 0.1928j (m). The acceleration of point B is
2 2 r 2 aB = rB/A AB B/A = AB (0.7i) (m/s ).
MB mg Bx
The acceleration of the center of mass is

2 r aG = aB + BC rG/B BC G/B
aG = 2.8i +
i 0 0.2298
j 0 0.1928
k 4 0.9193i 0.7713j 0
= 2.948i 1.691j (m/s2 ). From Newtons second law, Bx = maGx = (12)(2.948) = 35.37 N , By mg = maGy , By = (12)(1.691) + (12)(9.81) = 97.43 N From the equation of angular motion, MG = IBC . The moment about the center of mass is i MG = MB + rB/G B = 0.2298 35.37 j 0.1928 97.43 k 0 0
= MB k 29.21k (N-m). Note I = 3 kg-m2 and BC = 4k (rad/s2 ), from which MB = 29.21 + 3(4) = 17.21 N-m .
Problem 18.28 The space shuttles attitude control engines exert two forces Ff = 8 kN and Fr = 2 kN. The force vectors and the center of mass G lie in the x -y plane of the inertial reference frame. The mass of the shuttle is 54,000 kg, and its moment of inertia about the axis through the center of mass that is parallel to the z axis is 4.5 106 kg-m2 . Determine the acceleration of the center of mass and the angular acceleration. (You can ignore the force on the shuttle due to its weight). Solution: Newtons second law is
F = (Ff cos 5 Fr cos 6 )i (Ff sin 5 + Fr sin 6 )j = ma. Setting Ff = 8000 N, Fr = 2000 N and m = 54,000 kg and solving for a, we obtain a = 0.1108i 0.0168j (m/s2 ). The equation of angular motion is M = (18)(Ff sin 5 ) (2)(Ff cos 5 ) (12)(Fr sin 6 ) + (2)(Fr cos 6 ) = I where I = 4.5 106 kg-m2 . Solving for the counterclockwise angular acceleration is = 0.000427 rad/s2 .
y 2m 2m Ff 5 18 m G 12m x 6 Fr
Problem 18.29 In Problem 18.28, suppose that Ff = 4 kN and you want the shuttles angular acceleration to be zero. Determine the necessary force Fr and the resulting acceleration of the center of mass. Solution: The total moment about the center of mass must equal
zero: M = (18)(Ff sin 5 ) (2)(Ff cos 5 ) (12)(Fr sin 6 ) + (2)(Fr cos 6 ) = 0 Setting Ff = 4000 N and solving Fr = 2306 N. From Newtons second law F = (Ff cos 5 Fr cos 6 )i (Ff sin 5 + Fr sin 6 )j = 54,000a, we obtain a = 0.0313i 0.0109j (m/s2 ).
Problem 18.30 Points B and C lie in the x -y plane. The y axis is vertical. The center of mass of the 18kg arm BC is at the midpoint of the line from B to C , and the moment of inertia of the arm about the axis through the center of mass that is parallel to the z axis is 1.5 kg-m2 . At the instant shown, the angular velocity and angular acceleration vectors of arm AB are AB = 0.6k (rad/s) and AB = 0.3k (rad/s2 ). The angular velocity and angular acceleration vectors of arm BC are BC = 0.4k (rad/s) and BC = 2k (rad/s)2 . Determine the force and couple exerted on arm BC at B .
z
760 mm
15 B
Solution: The acceleration of point B is aB = aA + AB 2 r rA/B AB A/B or

mg
i aB = 0 0.76 cos 15
j 0 0.76 sin 15
k 0.3 0
By
(0.6)2 (0.76 cos 15 i 0.76 sin 15 j) = 0.323i 0.149j (m/s )

2
50 Bx MB
The acceleration of the center of mass G of arm BC is

2 r aG = aB + BC rG/B BC G/B
aB = 0.323i 0.149j k 2 0
i 0 0.45 cos 50
j 0 0.45 sin 50
(0.4)2 (0.45 cos 50 i + 0.45 sin 50 j), or aG = 1.059i + 0.374j (m/s2 ). The free body diagram of arm BC is: Newtons second law is F = Bx i + (By mg)j = maG : Bx i + By (18)(9.81) j = 18(1.059i + 0.374j). Solving, we obtain Bx = 19.1 N, By = 183.3 N. The equation of angular motion is MG = IBC BC : or (0.45 sin 50 )Bx (0.45 cos 50 )By + MB = (1.5)(2)
Solving for MB , we obtain MB = 62.6 N-m.
90
50
Problem 18.31 Points B and C lie in the x -y plane. The y axis is vertical. The center of mass of the 18kg arm BC is at the midpoint of the line from B to C , and the moment of inertia of the arm about the axis through the center of mass that is parallel to the z axis is 1.5 kg-m2 . At the instant shown, the angular velocity and angular acceleration vectors of arm AB are AB = 0.6k (rad/s) and AB = 0.3k (rad/s2 ). The angular velocity vectors of arm BC is BC = 0.4k (rad/s). If you want to program the robot so that the angular acceleration of arm BC is zero at this instant, what couple must be exerted on arm BC at B ? Solution: From the solution of Problem 18.30, the acceleration of
point B is aB = 0.323i 0.149j (m/s2 ). If BC = 0, the acceleration of the center of mass G of arm BC is
2 r aG = aB BC G/B = 0.323i 0.149j
(0.4)2 (0.45 cos 50 i + 0.45 sin 50 j) = 0.370i 0.205j (m/s2 ). From the free body diagram of arm BC in the solution of Problem 18.30. Newtons second law is F = Bx i + (By mg)j = maG : Bx i + [By (18)(9.81)]j = 18(0.370i 0.205j). Solving, we obtain Bx = 6.65 N, By = 172.90 N. The equation of angular motion is MG = IBC BC = 0: (0.45 sin 50 )Bx (0.45 cos 50 )By + MB = 0. Solving for MB , we obtain MB = 52.3 N-m.
Problem 18.32 The 9000-kg airplane has just landed. At the instant shown, its angular velocity is zero. Its landing gear are rolling and contact the runway at x = 10 m. The friction force on the wheels is negligible. The coordinates of the airplanes center of mass are x = 10.50, y = 3.00 m. The total aerodynamic force is 26.8i + 30.4j (kN), and it effectively acts at the center of pressure located at x = 10.75, y = 3.2 m. The thrust T = 4.40 kN exerts no moment about the center of mass. The moment of inertia of the airplane about its center of mass is 75,000 kg-m2 . Determine the airplanes angular acceleration. Strategy: Draw a free-body diagram of the airplane, including the normal force exerted on the landing gear. To relate the acceleration of the center of mass to the angular acceleration, use the fact that the acceleration of the airplane (treated as a rigid body), is horizontal at the point where the wheels contact the runway. Solution: The free body diagram is as shown. C is the center of pressure and A is the aerodynamic force. Newtons second law is
F = T + A + N mg j = ma: T cos 15 i + T sin 15 j + Ax i + Ay j + N j mg j = m(ax i + ay j). Equating i and j components, 4400 cos 15 26,800 = 9000ax , 4400 sin 15 + 30,400 + N (9000)(9.81) = 9000ay The moment of A about the center of mass is i 0.25 26,800 j 0.20 30,400 k 0 = 12,960k (N-m). 0 (1).

y T
15 x
y A G P C mg j N 15 x T
rC/G A =
The equation of angular motion is M = 12,960 (0.5)N = 75,000. (2)
To relate ax , ay and we express the acceleration of the point of i j k contact P as ap i = aG + rp/G = ax i + ay j + 0 0 . 0.5 3 0 Equating the j components, 0 = ay 0.5 (3)
Solving Equations (1)(3), the angular acceleration is = 0.200 rad/s2
Problem 18.33 The radius of the 2-kg disk is R = 80 mm. It is released from rest on the rough inclined surface. (a) (b) How long does it take the disk to roll through one revolution? What minimum coefcient of static friction between the disk and the surface is necessary for the disk to roll instead of slipping when it is released?
30
Solution: Given: R = 80 mm, g = 9.81 m/s2 , = 30 , no slip

We have the dynamic, kinematic, and no slip equations F F : F mg sin = ma : N mg cos = 0
mg
1 MG : F R = mR 2 2 a = R F = N Solving we nd = g g , a = , N = 0.867 mg, F = 0.167 mg, = 0.192 3R 3 9.81 m/s2 = 40.9 rad/s2 , = (40.9 rad/s2 )t, = (20.4 rad/s2 )t 2 3(0.08 m)
F N 30
(a)
For one revolution = 2 rad = (20.4 rad/s2 )t 2 t = 0.554 s (b) = 0.192
Problem 18.34 A thin ring and a circular disk, each of mass m and radius R , are released from rest on an inclined surface and allowed to roll a distance D . Determine the ratio of the times required to traverse the distance D in the two cases.
Solution: Choose a coordinate system with the x axis parallel to

the inclined surface and the origin at the center of the disk at the instant of release. The moment about the center of mass is i M=Rf= 0 f j R 0 k 0 = Rf k. 0
W f N
From the equation of angular motion, M = I , from which I . Rf = I , f = R From Newtons second law and the free body diagram: Fx = f + mg sin = max , where ax is the acceleration of the center of mass. Substitute the expression for the force f : I + mg sin = max . R The relation between and ax is found from kinematics: the acceleration of the point of contact P with the inclined surface is zero, from which 0 = aCM + rP /C 2 rP C = aCM + (R)j 2 (R j), and i aCM = R j 2 R j = 0 0 j 0 R k 2 R j = R i 2 R j. 0 The time required to travel a distance D after being released from rest is t= 2D = ax 2D(I + R 2 m) . R 2 mg sin
The moment of inertia for a thin ring of radius R and mass m about the polar axis is Iring = mR 2 . The time to travel a distance D is tring = 2 D . g sin
The moment of inertia of a disk of radius R and mass m about the 2 polar axis is Idisk = 1 2 mR . The time to travel a distance D is tdisk = 3D . g sin
The ratio of the times is tring 2 = = tdisk 3 4 3
From the constraint on the motion, aCM = ax i, from which ax = R , or = ax . R
Substitute and solve: ax = mg sin . I + m R2
Problem 18.35 The stepped disk weighs 40 lb and its moment of inertia is I = 0.2 slug-ft2 . If the disk is released from rest, how long does it take its center to fall 3 ft? (Assume that the string remains vertical.)
4 in 8 in
Solution: The moment about the center of mass is M = RT . From the equation of angular motion: RT = I , from which T = I . From the free body diagram and Newtons second law: Fy = R T W = may , where ay is the acceleration of the center of mass. From kinematics: ay = R . Substitute and solve:
ay = W . I +m 2 R
The time required to fall a distance D is 2D = ay 2D(I + R 2 m) . R2 W
t=
4 W = 0.3333 ft, W = 40 lb, m = = 1.24 slug, 12 g I = 0.2 slug-ft2 , t = 0.676 s For D = 3 ft, R =
Problem 18.36 The radius of the pulley is R = 100 mm and its moment of inertia is I = 0.1 kg-m2 . The mass m = 5 kg. The spring constant k = 135 N/m. The system is released from rest with the spring unstretched. Determine how fast the mass is moving when it has fallen a distance x = 0.5 m. Strategy: Draw individual free-body diagrams of the mass and pulley, and use them to determine the acceleration a of the mass as a function of the distance x it has fallen. Then use the chain rule: a = dv/dt = (dv/dx)(dx/dt) = (dv/dx)v .
m x
Solution:
T1 = +kx
Oy
m0 :
RT1 + RT2 = I0
Ox
ax = R
T1 T2
Fy :
T2 + mg = max
Combining equations T1 + T2 = I0 R ax R
+x +x
T2 + mg = may Adding the two equations, we get T1 + mg = m + I0 R2 ax

+x T2
where T1 = +kx , ax = v I0 m+ 2 R m+
dv dx
mg
dv v = kx + mg dx I0 R2 =
0 v
v du =
0
+0.5
(kx + mg) dx
+0.5 0
m+
I0 R2
v2 = 2
x2 + mgx 2
v = 1.01 m/s
Problem 18.37 The radius of the pulley is R = 100 mm and its moment of inertia is I = 0.1 kg-m2 . The mass m = 5 kg. The spring constant is k = 135 N/m. The system is released from rest with the spring unstretched. What maximum velocity does the mass attain as it falls? Solution: From the solution to Problem 18.36,
I0 1 m+ 2 2 R v 2 = mgx kx 2 /2
R
Let c = (m + I0 /R 2 ) and multiply the expression by 2. cv 2 = 2mgx kx 2 c2v dv = 2mg 2kx dx

k m x
dv mg Setting = 0, x = dx k Evaluating v at this value of x yields

2 =2 cvmax
m2 g 2 m2 g 2 k k k2
2 vmax =
m2 g 2 , or vmax = 1.09 m/s ck
Problem 18.38 The mass of the disk is 45 kg and its radius is R = 0.3 m. The spring constant is k = 60 N/m. The disk is rolled to the left until the spring is compressed 0.5 m and released from rest. (a) (b) If you assume that the disk rolls, what is its angular acceleration at the instant it is released? What is the minimum coefcient of static friction for which the disk will not slip when it is released?
Solution:
x0 = 0.5 k = 600 N/m m = 45 kg R = 0.3 m
2 2 I0 = 1 2 mR = 2.025 N-m , Fs = kx
+ mg
Fs
f N
Fx : Fy : M0 :
Fs f = ma0x N mg = 0 f R = I0
Rolling implies a0x = R We have, at x = 0.5 m kx f = ma0x N mg = 0 Rf = I0 a0x = R Four eqns, four unknowns (a0x , , N, f ) (a) Solving f = 100 N, N = 441.5 N = 14.81 rad/s2 (clockwise) a0x = 4.44 m/s2 (b) for impending slip, f = s N s = f/N = 100/441.5 s = 0.227
Problem 18.39 The disk weighs 12 lb and its radius is R = 6 in. The spring constant is k = 3 lb/ft. The disk is released from rest with the spring unstretched. Determine the magnitude of the velocity of the center of the disk when it has moved 2 ft from its initial position if (a) the inclined surface is smooth (friction is negligible); (b) the disk rolls on the surface.
30
Solution: We draw the FBD after the disk has moved an arbitrary distance x down the ramp.
Given: W = 12 lb, g = 32.2 ft/s2 , m = W/g k = 3 lb/ft, R = 6 in., = 30 For both cases we have F F : F + kx mg sin = ma
kx
mg
F N
: N mg cos = 0
1 MG : F R = mR 2 2 (a) The ramp is smooth F = 0. Solving we nd a=v

v 0
dv = (16.1 ft/s2 ) (8.05 s2 )x dx

2 ft 0
vd v =
[(16.1 ft/s2 ) (8.05 s2 )x ]d x
v2 = (16.1 ft/s2 )(2 ft) (4.025 s2 )(2 ft)2 = 16.1 ft2 /s 2 2 v = 5.67 ft/s (b) The disk rolls w/o slipping a = R . Solving we nd a=v
v 0
dv = (10.73 ft/s2 ) (5.37 s2 )x dx

2 ft 0
vd v =
[(10.73 ft/s2 ) (5.37 s2 )x ]d x
v2 = (10.73 ft/s2 )(2 ft) (2.68 s2 )(2 ft)2 = 10.73 ft2 /s 2 2 v = 4.63 ft/s
Problem 18.40 A 42-lb sphere with radius R = 4 in. is placed on a horizontal surface with initial angular velocity 0 = 40 rad/s. The coefcient of kinetic friction between the sphere and the surface is k = 0.06. What maximum velocity will the center of the sphere attain, and how long does it take to reach that velocity? Strategy: The friction force exerted on the spinning sphere by the surface will cause the sphere to accelerate to the right. The friction force will also cause the spheres angular velocity to decrease. The center of the sphere will accelerate until the sphere is rolling on the surface instead of slipping relative to it. Use the relation between the velocity of the center and the angular velocity of the sphere when it is rolling to determine when the sphere begins rolling. Solution: Given
W = 42 lb, g = 32.2 ft/s2 , m = W/g, R = 4/12 ft, k = 0.06 We have Fx : k N = ma Fy : N mg = 0
W
MG : k NR = Solving we nd = 5k g = 14.49 rad/s2 , a = k g = 1.932 ft/s2 2R 2 mR 2 a 5
RW
From kinematics we learn that = 14.49 rad/s2 , = (14.49 rad/s2 )t (40 rad/s) a = 1.932 ft/s2 , v = (1.932 ft/s2 )t when we reach a steady motion we have v = R (1.932 ft/s )t = (0.33 ft)[(14.49 rad/s )t (40 rad/s)]
2 2
k N
N
Solving for the time we nd t = 1.97 s v = 3.81 ft/s
Problem 18.41 A soccer player kicks the ball to a teammate 8 m away. The ball leaves the players foot moving parallel to the ground at 6 m/s with no angular velocity. The coefcient of kinetic friction between the ball and the grass is k = 0.32. How long does it take the ball to reach his teammate? The radius of the ball is 112 mm and its mass is 0.4 kg. Estimate the balls moment of inertia by using the equation for a thin spherical shell: I = 2 mR 2 . 3
Solution: Given = 0.32, r = 0.112 m, g = 9.81 m/s2 , v0 =

6 m/s The motion occurs in two phases. (a) Slipping.
mg
Fx : N = ma
Fy : N mg = 0
N
MG : NR = Solving we nd a = g v = v0 gt, s = v0 t = 3g 3g = t 2R 2R 1 gt 2 2 2 mR 2 3
When it stops slipping we have v = R v0 gt = v = 3.6 m/s, s = 3.67 m (b) Rolling Steady motion a = 0, v = 3.6 m/s, s = (3.6 m/s)(t 0.765 s) + 3.67 m When it reaches the teammate we have 8 m = (3.6 m/s)(t 0.765 s) + 3.67 m t = 1.97 s 3 2v0 gt t = = 0.765 s 2 5g
Problem 18.42 The 100-kg cylindrical disk is at rest when the force F is applied to a cord wrapped around it. The static and kinetic coefcients of friction between the disk and the surface equal 0.2. Determine the angular acceleration of the disk if (a) F = 500 N and (b) F = 1000 N. Strategy: First solve the problem by assuming that the disk does not slip, but rolls on the surface. Determine the friction force, and nd out whether it exceeds the product of the coefcient of friction and the normal force. If it does, you must rework the problem assuming that the disk slips. Solution: Choose a coordinate system with the origin at the center of the disk in the at rest position, with the x axis parallel to the plane surface. The moment about the center of mass is M = RF Rf , from which RF Rf = I . From which
f = I RF I = F . R R (b)
F 300 mm
F W f
N
For F = 1000 N the acceleration is ax = 4000 4F = = 13.33 m/s2 . 3m 300
From Newtons second law: F f = max , where ax is the acceleration of the center of mass. Assume that the disk rolls. At the point of contact aP = 0; from which 0 = aG + rP /G 2 rP /G . aG = ax i = R j i j = 0 0 0 R 2 R j
k 2 R j = R i 2 R j, 0
The friction force is f = F max = 1000 1333.3 = 333.3 N. The drum slips. The moment equation for slip is RF + Rk gm = I , from which = 2F 2k g RF + Rk gm = + = 53.6 rad/s2 . I mR R
from which ay = 0 and ax = R . Substitute for f and solve: ax = 2F I m+ 2 R .
2 For a disk, the moment of inertia about the polar axis is I = 1 2 mR , from which
ax = (a)
4F 2000 = = 6.67 m/s2 . 3m 300 For F = 500 N, the friction force is f = F max = F 500 = = 167 N. 3 3
Note: k W = 0.2 mg = 196.2 N, the disk does not slip. The angular velocity is = 6.67 ax = = 22.22 rad/s2 . R 0.3
Problem 18.43 The ring gear is xed. The mass and moment of inertia of the sun gear are mS = 320 kg and IS = 40 kg-m2 . The mass and moment of inertia of each planet gear are mP = 38 kg and IP = 0.60 kg-m2 . If a couple M = 200 N-m is applied to the sun gear, what is the latters angular acceleration?
0.18 m.
Ring gear
0.86 m
M 0.50 m
Planet gears (3) Sun gear
Solution:
MS = 200 N-m Sun Gear: Planet Gears: M0 : Mc : Ft : MS 3RF = IS S Gr F r = IP P F + G = mP act
F er r C IP F O et 3 small disks Ms F F R Is
From kinematics act = rP 2P rP = RS We have 5 eqns in 5 unknowns. Solving, S = 3.95 rad/s2 (counterclockwise)
Problem 18.44 In Problem 18.43, what is the magnitude of the tangential force exerted on the sun gear by each planet gear at their point of contact when the 200 N-m couple is applied to the sun gear? Solution: See the solution to Problem 18.43. Solving the 5 eqns in 5 unknowns yields
S = 3.95 rad/s2 , G = 9.63 N, aGt = 0.988 m/s2 , P = 5.49 rad/s2 , F = 27.9 N. F is the required value.
Problem 18.45 The 18-kg ladder is released from rest in the position shown. Model it as a slender bar and neglect friction. At the instant of release, determine (a) the angular acceleration of the ladder and (b) the normal force exerted on the ladder by the oor.
30 4m
Solution: The vector location of the center of mass is rG = (L/2) sin 30 i + (L/2) cos 30 j = 1i + 1.732j (m). Denote the normal forces at the top and bottom of the ladder by P and N . The vector locations of A and B are rA = L sin 30 i = 2i (m), rB = L cos 30 j = 3.46j (m). The vectors rA/G = rA rG = 1i 1.732j (m), rB/G = rB rG = 1i + 1.732j (m). The moment about the center of mass is
M = rB/G P + rA/G N, i j M = 1 1.732 P 0 k i 0 + 1 0 0 j k 1.732 0 N 0
mg
A N
= (1.732P + N)k (N-m). From the equation of angular motion: (1) 1.732 P + N = I . From Newtons second law: (2) P = max , (3) N mg = may , where ax , ay are the accelerations of the center of mass. From kinematics: aG = aA + rG/A 2 rG/A . The angular velocity is zero since the system was released from rest, i j aG = aA i + 0 0 1 1.732 k = aA i 1.732 i j 0
= (aA 1.732)i j (m/s2 ), from which ay = . Similarly, i j aG = aB + rG/B , aG = aB + 0 0 1 1.732 = aB j + 1.732 i + j, from which ax = 1.732 . Substitute into (1), (2) and (3) to obtain three equations in three unknowns: 1.732P + N = I , P = m(1.732) , N mg = m . Solve: (a) = 1.84 rad/s2 , P = 57.3 N, (b) N = 143.47 N k 0
Problem 18.46 The 18-kg ladder is released from rest in the position shown. Model it as a slender bar and neglect friction. Determine its angular acceleration at the instant of release.
30
4m
20
Solution: Given m = 18 kg, L = 4 m, g = 9.81 m/s2 , = 0

First nd the kinematic constraints. We have aA = aG + rA/G = ax i + ay j + k L L sin 30 i + cos 30 j 2 2
NA
30
= ax
L L cos 30 i + ay sin 30 j 2 2
aB = aG + rB/G = ax i + ay j + k L L sin 30 i + cos 30 j 2 2
mg
= ax +
L L cos 30 i + ay + sin 30 j 2 2 L cos 30 = 0 2
NB
20
The constraints are aA i = ax
aB (sin 20 i + cos 20 j) = ax + L L cos 30 sin 20 + ay + sin 30 cos 20 2 2
The dynamic equations: Fx : NA + NB sin 20 = max Fy : NB cos 20 mg = may MG : NA L cos 30 + NB cos 20 2

L sin 30 2
+ NB sin 20
L cos 30 2
1 mL2 12
Solving ve equations in ve unknowns we have = 2.35 rad/s2 Also ax = 4.07 ft/s2 , ay = 5.31 ft/s2 , NA = 43.7 N, NB = 86.2 N CCW
Problem 18.47 The 4-kg slender bar is released from rest on the rough surface in the position shown. Determine the minimum value of the coefcient of static friction for which the bar will not slip relative to the oor when it is released.
1m
60
Solution: Given m = 4 kg, L = 1 m, g = 9.81 m/s2

Kinematics: aB = aG + rB/G = ax i + ay j + k L L cos 60 i sin 60 j 2 2
= ax +
L L sin 60 i + ay + cos 60 j 2 2
mg 60
The contact with the oor requires aB i = ax + aB j = ay + L sin 60 = 0 2 L cos 60 = 0 2
NB
The dynamic equations Fx : NB = max Fy : NB mg = may L 1 cos 60 = mL2 2 3 = 0.400
NB
MB : mg
Solving we nd We also have
ax = 3.19 m/s2 , ay = 1.84 m/s2 , = 7.36 rad/s2 , NB = 31.9 N
Problem 18.48 The masses of the bar and disk are 14 kg and 9 kg, respectively. The system is released from rest with the bar horizontal. Determine the bars angular acceleration at that instant if (a) (b) the bar and disk are welded together at A, the bar and disk are connected by a smooth pin at A.
A O 1.2 m 0.3 m
Strategy: In Part (b), draw individual free-body diagrams of the bar and disk. Solution:
(a) L = 1.2 m R = 0.3 m mB = 14 kg mD = 9 kg
Ox
O Oy
A mog
mBg
O is a xed point For the bar IG = 1 1 mB L 2 = (14)(1.2)2 = 1.68 N-m2 12 12 L 2

2
IOB = IG + mB IOB = 6.72 N-m2 For the disk:
1 2 2 2 IA = 1 2 mD R = 2 (9)(0.3) = 0.405 N-m
IOD = IA + m0 L2 = 13.37 N-m2 The total moment of inertia of the welded disk and bar about O is IT = IOB + IOD = 20.09 N-m2 Fx : Fy : Ox = O = maGx Oy mB g mD g = (mB + mD )aGy L mB g LmD g = IT 2
M0 :
We can solve the last equation for without nding the location and acceleration of the center of mass, G. Solving, = 9.38 rad/s2 (b) (clockwise)
In this case, only the moment of inertia changes. Since the disk is on a smooth pin, it does not rotate. It acts only as a point mass at a distance L from point O . In this case, IOD = mD L2 and IT = IOB + IOD = 19.68 N-m2 We now have M0 : L mB g LmD g = IT 2 (clockwise)
Solving = 9.57 rad/s2
Problem 18.49 The 5-lb horizontal bar is connected to the 10-lb disk by a smooth pin at A. The system is released from rest in the position shown. What are the angular accelerations of the bar and disk at that instant?
A O 3 ft 1 ft
Solution: Given
g = 32.2 ft/s , Wbar = 5 lb, Wdisk = 10 lb,
2
Ay Ox Ax
mbar =
Wbar Wdisk , mdisk = g g
Oy Wbar Ay Wdisk
L = 3 ft, R = 1 ft The FBDs The dynamic equations MO : mbar g L 1 Ay L = mbar L2 bar 2 3 1 mdisk R 2 disk 2
MGdisk : Ay R =
Fy : Ay mdisk g = mdisk aydisk Kinematic constraint bar L = aydisk disk R Solving we nd disk = 3.58 rad/s2 , bar = 12.5 rad/s2 , aydisk = 34.0 m/s2 , Ay = 0.556 N Thus disk = 3.58 rad/s2 CCW, bar = 12.5 rad/s2 CW
Problem 18.50 The 0.1-kg slender bar and 0.2-kg cylindrical disk are released from rest with the bar horizontal. The disk rolls on the curved surface. What is the bars angular acceleration at that instant it is released?
40 mm
120 mm
Solution: The moment about the center of mass of the disk is M = f R , from the equation of angular motion, Rf = Id d . From Newtons second law: f By Wd = md ady . Since the disk rolls, the kinematic condition is ady = Rd . Combine the expressions and rearrange: f = I d /R , I d /R By Wd = md ady , from which By + Wd = (Rmd + Id /R)d . The moment about the center of mass of the bar is
Mb = L Ay + 2 L By , 2
Ax
Ay
By B Wb x
By Bx Wd
f N
from which L Ay + 2 L By = Ib b . 2
From Newtons second law Ay Wb + By = mb aby , where aby is the acceleration of the center of mass of the bar. The kinematic condition for the bar is aCM = b from which aby = L b . 2 L i = 2 L b j, 2
Similarly, aD = aCM + b ((L/2)i), from which ady = Lb . From which: d = Lb /R . Substitute to obtain three equations in three unknowns: By + Wd = Rmd + L Ay + 2 Id R L R b ,
L By = Ib b , 2 L b . 2
Ay Wb + By = mb
Substitute known numerical values: L = 0.12 m, R = 0.04 m, mb = 0.1 kg, Wb = mb g = 0.981 N, md = 0.2 kg, Wd = md g = 1.962 N, Ib = (1/12)mb (L2 ) = 1.2 104 kg-m2 , Id = (1/2)md R 2 = 1.6 104 kg-m2 . Solve: b = 61.3 rad/s2 , Ay = 0.368 N, By = 0.245 N.
Problem 18.51 The mass of the suspended object A is 8 kg. The mass of the pulley is 5 kg, and its moment of inertia is 0.036 kg-m2 . If the force T = 70 N, what is the magnitude of the acceleration of A?
120 mm
Solution: Given
mA = 8 kg, mB = 5 kg, IB = 0.036 kg-m2 R = 0.12 m, g = 9.81 m/s2 , T = 70 N The FBDs The dynamic equations FyB : T2 + T mB g By = mB aBy FyA : By mA g = mA aAy MB : T2 R + T R = IB B Kinematic constraints aBy = aAy , aBy = RB Solving we nd We also have aBy = 0.805 m/s2 , B = 6.70 rad/s, T2 = 68.0 N, By = 84.9 N aAy = 0.805 m/s2
T2 T mBg
By
By
mAg
Problem 18.52 The suspended object A weighs 20 lb. The pulleys are identical, each weighing 10 lb and having moment of inertia 0.022 slug-ft2 . If the force T = 15 lb, what is the magnitude of the acceleration of A?
4 in
4 in
Solution: Given
g = 32.2 ft/s2 , WA = 20 lb, Wdisk = 10 lb, I = 0.022 slug-ft2 mA = WA Wdisk 4 , mdisk = , R= ft, T = 15 lb g g 12
T2
Wdisk T
The FBDs The dynamic equations Fy 1 : T2 + T T1 mdisk g = mdisk a1 Fy 2 : T4 + T1 T3 mdisk g = mdisk a2 Fy 3 : T3 mA g = mA aA M1 : T R T2 R = I 1 M2 : T1 R T4 R = I 2 The kinematic constraints a1 = R1 , a2 = R2 , a1 = 2R2 , aA = a2 Solving we nd We also have a1 = 6.32 ft/s2 , a2 = 3.16 ft.s2 , 1 = 19.0 rad/s2 , 2 = 9.48 rad/s2 T1 = 16.8 lb, T2 = 13.7 lb, T3 = 22.0 lb, T4 = 16.2 lb aA = 3.16 ft/s2
T4
Wdisk T1
T3
WA
Problem 18.53 The 2-kg slender bar and 5-kg block are released from rest in the position shown. If friction is negligible, what is the blocks acceleration at that instant?
55
1m
Solution: L = 1 m, m = 2 kg M = 5 kg
Assume directions for Bx , By , IG = Fx : Fy : Bx = maGx By mg = mB aGy L cos By + 2 Bx = Ma0x N By Mg = 0 L sin Bx = IG 2 1 mB L 2 12 (1) (2)
y L cos 2 m
MG :
(3)
Fx : Fy :
(4) (5)
G mg O Bx By x (L / 2) sin
From kinematics, = 0 (initially) a0 = aG + k r0/G where r0/G = L L cos i sin j 2 2
From the diagram a0 = a0x i a0x 0 = aGx + (L/2) sin = aGy + (L/2) cos (6) (7)
Mg
We know = 55 , IG = 0.167 kg-m2 , L = 1 m, m = 2 kg, M = 5 kg. We have 7 eqns in 7 unknowns (aGx , aGy , a0x , , Bx , By , N), Solving, we get Bx = 5.77 N, By = 13.97 N, aGx = 2.88 m/s2 , = 9.86 rad/s2 , aGy = 2.83 m/s2 N = 63.0 N (opposite the assumed direction)
M Bx O
By
a0x = 1.15 m/s2 . (to the right)
Problem 18.54 The 2-kg slender bar and 5-kg block are released from rest in the position shown. What minimum coefcient of static friction between the block and the horizontal surface would be necessary for the block not to move when the system is released? Solution: This solution is very similar to that of Problem 18.53. We add a friction force f = s N and set a0x = 0.
L = 1 m m = 2 kg M = 5 kg IG = 1 mL2 = 0.167 kg-m2 12 Bx = maGx By mg = maGy L cos By + 2 L sin Bx = IG 2 (1) (2)
G mg
Fx : Fy :
Bx By
MG :
(3)
Mg
(These are the same as in Problem 18.53) Note: In Prob 18.53, Bx = 5.77 N (it was in the opposite direction to that assumed). This resulted in a0x to the right. Thus, friction must be to the left
M
Fx : Fy : Bx s N = ma0x = 0 (4) N By Mg = 0 (5)
By
Bx
From kinematics, a0 = aG + r0/G = 0 O = aGx + (L/2) sin O = aGy + (L/2) cos (6) (7)
s N
Solving 7 eqns in 7 unknowns, we get Bx = 6.91 N, aGx = 3.46 m/s2 , N = 63.8 N, s = 0.108 By = 14.78 N, aGy = 2.42 m/s2
= 8.44 rad/s2
Problem 18.55 The 0.4-kg slender bar and 1-kg disk are released from rest in the position shown. If the disk rolls, what is the bars angular acceleration at the instant of release?
1m
40
0.25 m
Solution: Choose a coordinate system with the origin at B and the x axis parallel to the plane surface. From Newtons second law applied to the disk,
Wb
N Wd By = 0, Bx f = md adx . The moment about the mass center of the disk is Md = Rf , from which Rf = Id . From Newtons second law applied to the bar: Bx = mb abx , By Wb = mb aby , where abx , aby are the accelerations of the center of mass of the bar. The vector location of the center of mass of the bar is rG/B = rG 0 = 0.5 sin 40 i + 0.5 cos 40 j = 0.3214i + 0.3830j (m). From the equation of angular motion for the bar: 0.3830Bx + 0.3214By = Ib b . From the kinematics, the acceleration of the disk is related to the angular acceleration by adx = Rd . The acceleration of the mass center of the bar is ab = ad + b rCM/B . From the constraint on the motion of the disk, ad = adx i. i ab = adx i + 0 0.3214 j 0 0.3830 k b 0
By
By Bx
Bx f
Wd N
Substitute known numerical values: mb = 0.4 kg, md = 1 kg, L = 1 m, R = 0.25 m, Wb = 3.924 N, Wd = 9.81 N, Ib = 1 mL2 = 0.0333 kg-m2 , 12 1 mR 2 = 0.03125 kg-m2 . 2
Id =
Solving, we obtain N = 12.39 N, By = 2.58 N, Bx = 1.26 N, b = 10.425 rad/s2 ,
= adx i 0.3830 i 0.3214 j, from which abx = adx 0.3830, aby = 0.3214. Substitute to obtain six equations in six unknowns: N Wd By = 0, 0.3830Bx + 0.3214By = Ib b , Bx = mb (adx 0.3830b ), By Wb = mb (0.3214b ), Rf = Id adx , R
adx = 0.841 m/s2 , f = 0.4203 N.
Bx f = md adx .
Problem 18.56 The masses of the slender bar and the crate are 9 kg and 36 kg, respectively. The crate rests on a smooth horizontal surface. If the system is stationary at the instant shown and a counterclockwise couple M = 300 N-m is applied to the bar, what is the resulting acceleration of the crate? Solution:
L= 5m
2m
1m
1 2 IA = 1 3 mL = 3 (9)5
2m
Solving, we get
Ax = 88.3 N, T = 115.3 N,
Ay = 173.2 N, N = 271.6 N,
IA = 15 kg-m
T = T cos 45i T sin 45j (N) rB/A = 1i + 2j m Fx : Ax + T cos 45 = maGx Fy : Ay T sin 45 mg = maGy MA : Fx : Mc + rB/A T 0.5 (mg) = IA T cos 45 = Macx

aGX = 0.755 m/s2 , aBX = 1.51 m/s2 , (1) (2) (3) (4) (5) = 0.755 rad/s2 ,
aGY = 0.377 m/s2 , aBY = 0.755 m/s2 , BC = 0.377 rad/s2 ,
aCx = 2.26 m/s2 .
B Mc 45
Fy : N + T sin 45 Mg = 0 From kinematics where rG/A aG = aA + k rG/A
y
aA = 0
G 2 T
L L = cos i + sin j 2 2 = 63.4 (6) (7)
mg
tan = 2,
aGx = L sin /2 aGy = +L cos /2 aB = aA + k rB/A aBx = L sin aBy = L cos
Ax
x 1 Ay
(8) (9)
y
Finally, we need the relationship between aB and aC . Cable BC does not stretch aC = aB + BC k rC/B = aCx i aC = aB + BC k (2i 2j) aCx = aBx + 2BC O = aBy + 2BC We have 11 eqns in 11 unknowns (10) (11) Ax , Ay , T , aCx , aCy , aCx , aCy , aBx , aBy , BC
mg
45
C x
Problem 18.57 In Problem 18.56, determine the resulting acceleration of the crate if the coefcient of kinetic friction between the crate and the horizontal surface is k = 0.2. Solution: The equations are the same as for the solution to Problem 18.56 except for equation (4). The free body diagram for the crate is
k = 0.2
2m
The new equation (4) is T cos 45 + k N = Macx (4).
Solving the resulting set of eleven equations in eleven unknowns, (the same unknowns as in Problem 18.56), we get Ax = 86.4 N, T = 118.6 N, Ay = 173.4 N, N = 269.3 N,
1m
2m
T 45 mg
aGx = 0.278 m/s2 , aGy = 0.139 m/s2 , aBx = 0.556 m/s2 , aBy = 0.278 m/s2 , = 0.278 rad/s2 , Bc = 0.139 rad/s2 ,
aCx = 0.834 m/s2 (to the left).
kN
N
Problem 18.58 Bar AB rotates with a constant angular velocity of 6 rad/s in the counterclockwise direction. The slender bar BCD weighs 10 lb, and the collar that bar BCD is attached to at C weighs 2 lb. The y axis points upward. Neglecting friction, determine the components of the forces exerted on bar BCD by the pins at B and C at the instant shown.
8 in C
12 in 6 rad/s B x
Solution: The velocity at point B is

vB = AB rB/A i = 0 8 j k 0 6 = 48j in/s = 4j (ft/s). 0 0
8 in
6 in
4 in
The velocity at point C is i j = vC i + 0 0 6 12 k BC . 0
2 )i + (5 2 aG = (288 10BC 5BC BC 10BC )j.
vC = vB + BC rC/B
aG = (288 (10)(128) 5(82 ))i + (5(128) 10(82 ))j = 1888i (in/s2 ) = 157.33i (ft/s2 ). From Newtons second law and the equation of angular motion applied to the free body diagram of bar BCD and the collar C : for the bar BCD, Bx + Cx = mBCD aG , By + Cy = W, 1 Cy 12 5 By + 12 10 Bx 12 2 Cx = IG BC , 12
vC = 48j 12BC i + 6BC j in/s. From the constraint on the collar at C , the y component of velocity is zero, from which 48 + 6BC = 0, BC = 8 rad/s. The acceleration at point B is
2 r aB = AB rB/A AB B/A
= 36(8i) = 288i (in/s2 ) = 24i (ft/s2 ), since AB = 0. The acceleration at point C is

2 r aC = aB + BC rC/B BC C/B ,
and for the collar C , Cx = mC aC , where the units are to be consistent. Solve: Cx = mC aC = 2 (184) = 11.44 lb , 32.17
i j k 2 (6i + 12j), aC = 288i + 0 0 BC BC 6 12 0 aC = (288 6(82 ) 12BC )i + (6BC 12(82 ))j (in/s2 ). From the constraint on the collar, aC = aC i. Separate components to obtain the two equations in two unknowns: aC = 672 12BC , 0 = 768 + 6BC . Solve: BC = 128 rad/s2 , aC = 2208 m/s = 184 ft/s .
2 2
Bx = mBCD aG Cx =
10 (157.33) Cx = 60.3 lb 32.17 1 Cx + 3 WBCD 6 1 10 Cx + , 3 6
By = (2)IG BC + 1 6 10 32.17
10 Bx 6
(102 + 202 ) + 144
5 Bx 3
By = 125.7 lb
Cy = WBCD By = 10 By = 135.7 lb
Cy Cx
The acceleration of the center of mass of the bar is

2 r aG = aB + G rG/B BC G/B .
By W
i j aG = 288i + 0 0 5 10
2 (5i + 10j), BC BC 0
Bx
Problem 18.59 The masses of the slender bars AB and BC are 10 kg and 12 kg, respectively. The angular velocities of the bars are zero at the instant shown and the horizontal force F = 150 N. The horizontal surface is smooth. Determine the angular accelerations of the bars.
0.4 m
C 0.4 m 0.2 m
Solution: Given
mAB = 10 kg, mBC = 12 kg, g = 9.81 m/s2 LAB = 0.4 m, LBC = The FBDs The dynamic equations MA : mAB g LAB 1 + By LAB = mAB LAB 2 AB 2 3 0.42 + 0.22 m, F = 150 N
Bx Ax Ay mAB g By By
mBC g
FBCx : Bx F = mBC aBCx FBCy : By mBC g + N = mBC aBCy MBCG : (Bx F )(0.2 m) + (By + N)(0.1 m) = The kinematic constraints aBCy = AB LAB + BC (0.1 m) aBCx = BC (0.2 m) AB LAB + BC (0.2 m) = 0 Solving we nd AB = 20.6 rad/s2 , BC = 41.2 rad/s2 CCW, BC = 41.2 rad/s2 CW 1 mBC LBC 2 BC 12
AB = 20.6 rad/s2 We also nd
aBCx = 8.23 m/s2 , aBCy = 4.12 m/s2 N = 244 N, Bx = 51.2 N, By = 76.5 N,
Problem 18.60 Let the total moment of inertia of the cars two rear wheels and axle be IR , and let the total moment of inertia of the two front wheels be IF . The radius of the tires is R , and the total mass of the car, including the wheels, is m. If the cars engine exerts a torque (couple) T on the rear wheels and the wheels do not slip, show that the cars acceleration is a= RT . R 2 m + IR + IF Isolate the wheels and draw three free-body
Strategy: diagrams.
Solution: The free body diagrams are as shown: We shall write three equations of motion for each wheel and two equations of motion for the body of the car: We shall sum moments about the axles on each wheel. Rear Wheel :
Fx = Fx + fR = mR a, Fy = NR mR g Fy = 0,
mBg
Fx Fy Gy
Gx
Fy
MR axle = RfR T = IR = IR Front Wheel : Fx = Gx + fF = mF a, Fy = NF mF g Gy = 0, MF axle = RfF = IF = IF Car Body : Fx = Fx Gx = mB a, Fy = Fy + Gy mB g = 0. Summing the y equations for all three bodies, we get NR + NF = (mB + mR + mF )g = mg . Summing the equations for all three bodies in the x direction, we get fR + fF = (mB + mR + mF )a = ma . (1) From the moment equations for the wheels, we get fF = IF a/R 2 and fR = IR a/R 2 + T /R . Substituting these into Eq. (1), we get a = RT /(mR 2 + IR + IF ) as required. a R a R
Gy mF g Gx
mRg Fx T fR NR fF
NF
Problem 18.61 The combined mass of the motorcycle and rider is 160 kg. Each 9-kg wheel has a 330mm radius and a moment of inertia I = 0.8 kg-m2 . The engine drives the rear wheel by exerting a couple on it. If the rear wheel exerts a 400-N horizontal force on the road and you do not neglect the horizontal force exerted on the road by the front wheel, determine (a) the motorcycles acceleration and (b) the normal forces exerted on the road by the rear and front wheels. (The location of the center of mass of the motorcycle not including its wheels, is shown.)
723 mm
649 mm 1500 mm
Solution: In the free-body diagrams shown, mw = 9 kg and m =

160 18 = 142 kg. Let a be the motorcycles acceleration to the right and let be the wheels clockwise angular acceleration. Note that (1)
a = 0.33. Front Wheel :
Fx = Bx + fF = m a, Fy = By + NF m g = 0, M = fF (0.33) = I . Rear Wheel : Fx = Ax + fR = m a, Fy = Ay + NR m g = 0, M = M fR (0.33) = I . Motorcycle : Fx = Ax Bx = ma, Fy = Ay By mg = 0,
(2) (3) (4)
Ax M By
Bx Ay mg
(5)
Ay M
Ax m wg fR
By
Bx m wg fF
(6) (7)
NR
NF
(8) (9)
M = M + (Ax + Bx )(0.723 0.33) + By (1.5 0.649) Ay (0.649) = 0. (10)
Solving Eqs (1)(10) with fR = 400 N, we obtain (a) a = 2.39 rad/s2 and (b) NR = 455 N, NF = 1115 N.
Problem 18.62 In Problem 18.61, if the front wheel lifts slightly off the road when the rider accelerates, determine (a) the motorcycles acceleration and (b) the torque exerted by the engine on the rear wheel. Solution: See the solution of Problem 18.61. We set NF = 0 and replace Eq. (4) by fF = 0. Then solving Eqs. (1)(10), we obtain
(a) (b) a = 9.34 m/s2 , M = 516 N-m.
Problem 18.63 The moment of inertia of the vertical handle about O is 0.12 slug-ft2 . The object B weighs 15 lb and rests on a smooth surface. The weight of the bar AB is negligible (which means that you can treat the bar as a two-force member). If the person exerts a 0.2-lb horizontal force on the handle 15 in. above O , what is the resulting angular acceleration of the handle?
A 6 in
B O 12 in
Solution: Let be the clockwise angular acceleration of the handle. The acceleration of B is:
aB = aA + AB rB/A : i j k aB i = (6/12) i + 0 0 AB 1 0.5 0 we see that AB = 0 and aB = (6/12) (1).
15 in. 6 in. O
15 lb
The free body diagrams of the handle and object B are as shown. Note that = arctan(6/12) = 26.6 . Newtons second law for the object B is C cos = (15/32.2)aB , (2)
N
The equation of angular motion for the handle is (15/12)F (6/12)C cos = (0.12) (3).
Solving Equations (1)(3) with F = 0.2 lb, we obtain = 1.06 rad/s2
aA = (6/12) B aB
Problem 18.64 The bars are each 1 m in length and have a mass of 2 kg. They rotate in the horizontal plane. Bar AB rotates with a constant angular velocity of 4 rad/s in the counterclockwise direction. At the instant shown, bar BC is rotating in the counterclockwise direction at 6 rad/s. What is the angular acceleration of bar BC ?
4 rad/s A B 6 rad/s aBC
Solution: Given m = 2 kg, L = 1 m, = 45

The FBD The kinematics aB = aA + AB rB/A AB rB/A
2
By
Bx
= 0 + 0 (4 rad/s)2 (1 m)i = (16 m/s2 )i aG = aB + BC rG/B BC 2 rG/B = (16 m/s2 )i + BC k (0.5 m)(cos i sin j) (6 rad/s)2 (0.5 m)(cos i sin j) = (16 m/s2 + [0.5 m sin ]BC [18 m/s2 ] cos )i + ([0.5 m cos ]BC + [18 m/s2 ] sin )j Our kinematic constraints are ax = 16 m/s2 + [0.5 m sin ]BC [18 m/s2 ] cos ay = [0.5 m cos ]BC + [18 m/s2 ] sin The dynamic equations Fx : Bx = max Fy : By = may MG : Bx (0.5 m) sin By (0.5 m) cos = Solving we nd BC = 17.0 rad/s2 CCW 1 m(1.0 m)2 BC 12
Problem 18.65 Bars OQ and PQ each weigh 6 lb. The weight of the collar P and friction between the collar and the horizontal bar are negligible. If the system is released from rest with = 45 , what are the angular accelerations of the two bars?
2 ft
2 ft
O P
Solution: Let OQ and P Q be the clockwise angular acceleration

of bar OQ and the counterclockwise angular acceleration of bar PQ. The acceleration of Q is i 0 2 cos 45 j 0 2 sin 45 k OQ 0
O
y
OQ
PQ
G 45 P x
aQ = a0 + 0Q rQ/0 =
= 2OQ sin 45 i 2OQ cos 45 j. The acceleration of P is
Qy Qx O 6 lb Qx
Qy
6 lb N
aP = aQ + P Q rP /Q i 0 2 cos 45 j 0 2 sin 45 k P Q . 0 From the diagrams:
aP i = 2OQ sin 45 i 2OQ cos 45 j +
The equation of angular motion of bar OQ is
M0 = I0 OQ : (5).
Equating i and j components, aP = 2OQ sin 45 2P Q sin 45 0 = 2OQ cos 45 + 2P Q cos 45 (1) (2).
2 Qx (2 sin 45 ) Qy (2 cos 45 ) + 6 cos 45 = 1 3 (6/32.2)(2) OQ
The equations of motion of bar PQ are Fx = Qx = (6/32.2)aGx Fy = N Qy 6 = (6/32.2)aGy M = (N + Qy + Qx )(cos 45 ) = 1 (6/32.2)(2)2 P Q 12 (6) (7)
The acceleration of the center of mass of bar PQ is aG = aQ + P Q rG/Q = 2OQ sin 45 i i 2OQ cos 45 j + 0 cos 45 Hence, aGx = 2OQ sin 45 + P Q sin 45 aGy = 2OQ cos 45 + P Q cos 45 (3); (4). j 0 sin 45 k P Q . 0
(8).
Solving Equations (1)(8), we obtain OQ = P Q = 6.83 rad/s2
Problem 18.66 In Problem 18.65, what are the angular accelerations of the two bars if the collar P weighs 2 lb? Solution: In the solution of Problem 18.65, the free body diagram
of bar PQ has a horizontal component P to the left where P is the force exerted on the bar by the collar. Equations (6) and (8) become Fx = Qx P = (6/32.2)aGx M = (N P + Qy + Qx )(cos 45 ) = 1 (6/32.2)(2)2 P Q 12
and the equation of motion for the collar is P = (2/32.2)aP solving equations (19), we obtain OQ = P Q = 4.88 rad/s2 .
Problem 18.67 The 4-kg slender bar is pinned to 2kg sliders at A and B . If friction is negligible and the system is released from rest in the position shown, what is the angular acceleration of the bar at that instant?
Solution: Express the acceleration of B in terms of the acceleration of A, aB = aA + AB rB/A :
1.2 m
i j k aB cos 45 i aB sin 45 j = aA j + 0 0 AB , 0.5 1.2 0 or and aB cos 45 = 1.2AB , aB sin 45 = aA + 0.5AB , (1); (2).
45 B
We express the acceleration of G in terms of the acceleration of A, aG = aA + AB rG/A : i 0 0.25 j k 0 AB , 0.6 0
0.5 m
aG = aGx i + aGy j = aA j +
A aA
(3);
or and
aGx = 0.6AB , aGy = aA + 0.25AB ,
y
(4);
AB
B aB Ay
The free body diagrams are as shown. The equations of motion are Slider A: N Ax = 0 and (2)(9.81) + Ay = 2aA , P [Bx + By + (2)(9.81)] cos 45 = 0, (5), (6); (7); (8); (9), (10) 1 (4)L2 AB 12 (11),
Ax B By (4)(9.81) Bx Ay Ax N (2)(9.81) By Bx P
Slider B : and Bar: and
[(2)(9.81) Bx + By ] cos 45 = 2aB , Ax + Bk = 4aGx Ay + By (4)(9.81) = 4aGy
(L/2)[(Bx Ax ) cos + (By Ay ) sin ] = where and L= (0.5)2 + (1.2)2 m
(2)(9.81)
arctan(0.5/1.2) = 22.6 .
Solving Equations (1)(11), we obtain AB = 5.18 rad/s2 .
Problem 18.68 The mass of the slender bar of m and the mass of the homogeneous disk is 4 m. The system is released form rest in the position shown. If the disk rolls and the friction between the bar and the horizontal surface is negligible, show that the disks angular acceleration is = 6g/95R counterclockwise.
2R
Newtons second law to the free body diagram of the bar: Bx = maGx , By + NA mg = maGy , where aGx , aGy are the accelerations of the center of mass of the bar. The moment about the bar center of mass is R RBy RNA Bx = IB AB . 2 For the disk: Apply Newtons second law and the equation of angular motion to the free body diagram of the disk. f Bx = 4maDx , ND 4mg By = 0, RBy + Rf = ID D From kinematics: Since the system is released from rest, AB = D = 0. The acceleration of the center of the disk is aD = RD i. The acceleration of point B in terms of the acceleration of the center of the disk is i = aD + 0 R j k 0 D = RD i RD j. 0 0
Solution: For the bar: The length of the bar is L = 5R. Apply
By NA mg Bx
Bx By
4 mg f ND
(3) (4) (5) (6)
RBy RNA
R IB Bx = D , 2 2
f Bx = 4RmD , ND 4mg By = 0, RBy + Rf = ID D .
aB = aD + D rB/D
From (1), (2), and (3) By = mg 2 9mR IB + 16 4R D .
The acceleration of the center of mass of the bar in terms of the acceleration of B is i 0 = aB + R j 0 R 2 AB 0 k
From (1), (4) and (6), By = 21Rm ID + R 4 D .
2 r aG = aB + AB rG/B AB G/B
= aB +
RAB i RAB j, 2
Equate the expressions for By and reduce to obtain D = mg 2 1 93Rm ID IB + + 16 R 4R .
AB i R(D + AB )j. aG = R D 2 The acceleration of the center of mass of the bar in terms of the acceleration of A is i 0 = aA + R j 0 R 2 AB 0 k
For a homogenous cylinder of mass 4m, ID = 2R 2 m. For a slender bar of mass m about the center of mass, IB = 1 5 mL2 = mR 2 . 12 12
aG = aA + aAB rG/A
Substitute and reduce: aD = 6g . 95R
= aA
RAB i + RAB j. 2
From the constraint on the motion, aA = aA i. Equate the expressions D for aG , separate components and solve: AB = . Substitute to 2 5R R D , aGy = D . Collect the results: obtain aGx = 4 2 (1) Bx = 5Rm D , 4 Rm D , 2
(2)
By + NA mg =
Problem 18.69 Bar AB rotates in the horizontal plane with a constant angular velocity of 10 rad/s in the counterclockwise direction. The masses of the slender bars BC and CD are 3 kg and 4.5 kg, respectively. Determine the x and y components of the forces exerted on bar BC by the pins at B and C at the instant shown.
10 rad/s
y C
0.2 m D A x
0.2 m
0.2 m
Solution: First lets do the kinematics

Velocity vB = vA + AB rB/A = 0 + (10 rad/s)k (0.2 m)j = (2 m/s)i vC = vB + BC rC/B = (2 m/s)i + BC k (0.2 m)i = (2 m/s)i + (0.2 m)BC j vD = vC + CD rD/C = (2 m/s)i + (0.2 m)BC j + CD k (0.2 m)(i j) = ([2 m/s] + [0.2 m]CD )i + (0.2 m)(BC + CD )j Since D is pinned we nd CD = 10 rad/s, BC = 10 rad/s Acceleration aB = aA + AB rB/A AB 2 rB/A = 0 + 0 (10 rad/s)2 (0.2 m)j = (20 m/s2 )j aC = aB + BC rC/B BC rC/B
2
0.2 m
B 0.2 m
10 rad/s A 0.4 m D
Cx Bx Cy Cy
By
Dx Dy
The FBDs The dynamics FBCx : Bx + Cx = (3 kg)(10 m/s2 ) FBCy : By + Cy = (3 kg)(40 m/s2 ) MG1 : (Cy By )(0.1 m) = 1 (3 kg)(0.2 m)2 (200 rad/s2 ) 12 1 (4.5 kg)( 2[0.2 m])2 (200 rad/s2 ) 3
= (20 m/s2 )j + BC k (0.2 m)i (10 rad/s)2 (0.2 m)i = (20 m/s2 )i + ([0.2 m]BC 20 m/s2 )j aD = aC + CD rD/C CD 2 rD/C = (20 m/s2 )i + ([0.2 m]BC 20 m/s2 )j + CD k (0.2 m)(i j) (10 rad/s)2 (0.2 m)(i j) = (40 m/s2 + [0.2 m]CD )i + ([0.2 m][BC + BC ])j Since D is pinned we nd BC = 200 rad/s2 , CD = 200 rad/s2 Now nd the accelerations of the center of mass G. aG = aB + BC rG1/B BC 2 rG1/B = (20 m/s2 )j + (200 rad/s2 )k (0.1 m)i (10 rad/s)2 (0.1 m)i = (10i 40j)m/s2
MD : Cx (0.2 m) + Cy (0.2 m) = Solving we nd
Bx = 220 N, By = 50 N Cx = 190 N, Cy = 70 N
Problem 18.70 The 2-kg bar rotates in the horizontal plane about the smooth pin. The 6-kg collar A slides on the smooth bar. At the instant shown, r = 1.2 m, = 0.4 rad/s, and the collar is sliding outward at 0.5 m/s relative to the bar. If you neglect the moment of inertia of the collar (that is, treat the collar as a particle), what is the bars angular acceleration? Strategy: Draw individual free-body diagrams of the bar and collar and write Newtons second law for the collar in terms of polar coordinates.
r
2m
Solution: Diagrams of the bar and collar showing the force they exert on each other in the horizontal plane are: the bars equation of angular motion is
M0 = I0 :
2 Nr = 1 3 (2)(2)
e N r N
er
(1)
In polar coordinates, Newtons second law for the collar is F = ma: N e = m d2r dr r2 er + r + 2 e . dt 2 dt
Equating e components, N = m r + 2 dr = (6)[r + 2(0.5)(0.4)] (2). dt
Solving Equations (1) and (2) with r = 1.2 m gives = 0.255 rad/s2
Problem 18.71 In Problem 18.70, the moment of inertia of the collar about its center of mass is 0.2 kg-m2 . Determine the angular acceleration of the bar, and compare your answer with the answer to Problem 18.70. Solution: Let C be the couple the collar and bar exert on each other: The bars equation of angular motion is
M0 = I0 :
2 Nr C = 1 3 (2)(2)
(1).
The collars equation of angular motion is M = I : C = 0.2 (2).
From the solution of Problem 18.70, the e component of Newtons second law for the collar is N = (6)[r + 2(0.5)(0.4)] (3) Solving Equations (1)(3) with r = 1.2 m gives = 0.250 rad/s2 .
Problem 18.72 The 3-Mg rocket is accelerating upward at 2g s. If you model it as a homogenous bar, what is the magnitude of the axial force P at the midpoint?
6m
m 2 = Mg = 1500 kg. Apply Newtons second law to the free body diagram:
Solution: At the midpoint, the mass above the midpoint is

3 2
m m g= a, 2 2
mg
where a = 2g . Rearrange: P = m (g + 2g) = 1500(3)(9.81) = 44,145 N, 2
P = 44.1 kN
Problem 18.73 The 20-kg slender bar is attached to a vertical shaft at A and rotates in the horizontal plane with a constant angular velocity of 10 rad/s. What is the axial force P at the bars midpoint?
y 10 rad/s 1m A
m = 10 kg. 2 m aCM , where Apply Newtons law to the free body diagram P = 2 aCM is the acceleration of the center of mass of the outer half of the bar.
Solution: The mass of the outer half of the bar is
From kinematics i 0 = ( rCM/A ) = 3 4 32 i = 75i m/s2 , 4 j 0 0 i k = 0 0 0 j 0 3 4 k , 0
aCM
aCM =
from which P = (10)(75) = 750 N
Problem 18.74 The 20-kg slender bar is attached to a vertical shaft at A and rotates in the horizontal plane with a constant angular velocity of 10 rad/s. Draw a graph of the axial force in the bar as a function of x . Solution: The vector location of the center of mass of the portion of the bar outboard of x is
rCM/A = 1x + x i (m) = 2 1+x 2 i (m).
Apply Newtons law to the outboard part of the bar: P = m0 aCM . The mass of the outboard portion is 1x m0 = m 1 = m(1 x) kg,
from which P = m(1 x)aCM . From kinematics, the acceleration of the center of mass of the outboard part of the bar is i 0 = ( rCM/A ) = 1+x 2 i 0 = 0 j 0 1+x 2 j k 0 , 0 0
1000 900 800 700 600 500 400 300 200 100 0
Axial Force vs x
Force, N
Length = 1 m = 10 rad/s
0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1 x, meters
aCM
from which aCM
k = 1+x 2 0
2 i,
P = The graph is shown.
m2 (1 x)(1 + x) = 1000(1 x 2 ) N. 2
Problem 18.75 The 100-lb slender bar AB has a builtin support at A. The y axis points upward. Determine the magnitudes of the shear force and bending moment at the bars midpoint if (a) the support is stationary and (b) the support is accelerating upward at 10 ft/s2 .
y 20 lb A 4 ft B x
Solution:
(a) The shear at the midpoint is, by denition, the total load to the right. Thus V = (50 + 20) = 70 lb. The moment is M = (50)(1) 20(2) = 90 ft-lb. Check: The density per unit length is 25 lb/ft. The shear distribution is V (x) = 120 25x , from which V (2) = 70 lb. check. The moment is M(x) = 25 2 x + C. V (x) + C = 120x 2
v P
20 lb x
M 1 ft
50 lb 1 ft
50 ay = 70 + 15.54 = 85.54 lb. g
The constant of integration is found from M(4) = 0, from which C = 280, from which M(2) = 90 lb-ft. check. (b) Assume that exure of the bar as point A accelerates is negligible. 25 = 0.778 slug/ft. The shear is g
V = 20 + 50 + The moment is
The mass density is
M = 20(2) 25(2) = 105.54 lb-ft.
50 (1)ay = 90 15.54 g
V (x) = 120 + (0.778(10)(4)) (25 + 0.778ay )x = 151.1 32.77x, from which V (2) = 85.54 lb. The moment distribution is M(x) = V (x) dx + C = 151.1x 32.77 2 x + C. 2
check.
The constant of integration is determined from M(4) = 0, from which C = 342.2, and M(2) = 105.5 lb-ft. Check: The load to the right of the midpoint is
Problem 18.76 For the bar in Problem 18.75, draw the shear force and bending moment diagrams for the two cases. Solution: Use the solution to Problem 18.75:
Shear and Moment Diagrams Shear and Moment Diagrams 200 150 100 50 0 50 100 150 200 250 300 350 shear, lb
(a)
The shear and moment distributions are V (x) = 120 25x lb, M(x) = 120x 25 2 x 280 lb-ft. 2
(b)
The shear and moment distributions are V (x) = 151.1 32.77x lb, M(x) = 151.1x 32.77 2 x 342.2 lb-ft. 2
200 150 100 50 0 50 100 150 200 250 300 350
shear, lb
moment, lb -ft
moment, lb - ft
2 x, ft (a)
2 x, ft (b)
The graphs are shown.
Problem 18.77 The 18-kg ladder is held in equilibrium in the position shown by the force F . Neglect friction and model the ladder as a slender bar. (a) (b) What is the axial force, shear force, and bending moment at the ladders midpoint? If the force F is suddenly removed, what are the axial force, shear force, and bending moment at the ladders midpoint at that instant?
30 4m
Solution: The strategy is to solve for the reactions at the surfaces, and from this solution determine the axial force, shear force, and bending moment at the ladder midpoint, for the static case. The process is repeated for the dynamic case.
(a) Static case reactions: Choose a coordinate system with the origin at O and the x parallel to the oor. From geometry and the free body diagram of the ladder, rB = iL sin , rA = jL cos , rG = L (i sin + j cos ), 2
where = 30 . Apply the static equilibrium conditions to the free body diagram: F + A = 0, B W = 0. The moment about the center of mass of the ladder is MG = rB/G (F i + B j) + rA/G Ai, i L MG = sin 2 F = j cos B k i L 0 + sin 2 0 A j cos 0 k 0 0
L (B sin (A + F ) cos )k = 0. 2
Substitute numerical values and solve: B = 176.58 N, A = 50.97 N, F = 50.97 N. Static case axial force, shear force, and bending moment at midpoint: Consider the lower half of the ladder, and note that from the denition of the bending moment, Mbend = M . Use the definitions and coordinate system for the static case reactions given above. Apply the equilibrium conditions to the free body diagram: (1) P cos + B W 2 cos + V sin = 0, from which, L B sin = 0, 4
(2) P sin + V cos F = 0, (3) M L (V + F cos ) + 4
from which P = 101.9 N, V = 0M = 44.15 N-m, Mbend = M = 44.15 N-m. (b) Dynamic case; the reactions: The force F is zero. From the free body diagram, the application of Newtons second law and the equation of angular motion for the dynamic case yields the three equations: A = maGx , B W = maGy , L (B sin A cos ) = IG , 2
where aGx , aGy are the accelerations of the center of mass. From the constraint on the motion, the acceleration of points A and B are aA = aA j (m/s2 ), aB = aB i (m/s2 ), where = 30 . From kinematics, the acceleration of G in terms of the acceleration at A is aG = aA + rG/A = aA + L 2 i 0 + sin j 0 cos k 0
W O B F
M V
= aA j +
L ( cos i + sin j) (m/s2 ), 2 L cos = 3 m/s2 . 2
from which aGx =
The acceleration of the point G in terms of the acceleration at B is L = aB i + 2 i 0 sin j 0 + cos k 0
W 2
F B
aG = aB + rG/B
where aG is the acceleration of the center of mass of the lower half of the ladder, from which aGy = L sin = m/s2 . 2
L = aB i ( cos i + sin j), 2 L from which aGy = sin = . Substitute into the 2 expressions for Newtons laws to obtain the three equations in three unknowns: A = m 3 , B W = m , B sin IG , where IG = (1/12)mL2 = 24 kg-m2 . Solve: A cos = 2 B = 143.5 N, A = 57.35 N, = 1.84 rad/s2 . Check: From 3g Example 18.4, = sin = 1.84 rad/s2 , check. 2L Axial force, shear force, and bending moment at midpoint: Consider the lower half of the ladder. The vector location of the center of mass is rG = 3L sin i + 4 L cos j (m), 4
The acceleration of L = 4 i 0 3 sin j 0 3 cos k 0
aG = aA + rG/B
= aA j +
L (3 cos i + 3 sin j) 4 3 3 m/s2 . 4
aGx = 3 cos =
Apply Newtons second law and the equation of angular motion to the free body diagram of the lower half of the ladder (see diagram in part (a), with F = 0) and use the kinematic relations to obtain: (1 ) P cos + B W m m + V sin = aGy = , 2 2 4 m 3 3 aGx = m 2 4
from which rG/A = rG/B = 3L (i sin j cos ) (m), 4 L (i sin + j cos ) (m). 4
(2 ) V cos P sin =
The moment about the center of mass is (3 ) + M (1)V + (1)B sin = IG , where IG = 1 12 m (22 ) = 3 kg-m2 . 2
From kinematics: the acceleration of the midpoint of the lower half in terms of the acceleration at B is L = aB + 4 i 0 sin j 0 cos k 0
aG = aB + rG/B
= aB i
L (i cos + j sin ) (m/s2 ). 4
Solve: P = 76.46 N, V = 5.518 N, M = 60.70 N-m. From the denition of the bending moment, Mbend = M = 60.70 N-m.
Problem 18.78 For the ladder in Problem 18.77, draw the shear force and bending moment diagrams for the two cases. Solution: Choose a coordinate system as in the solution to Problem 18.77. Use the solution to Problem 18.77 for the reactions at A and B for both cases. Cut the bar at a distance x from the point A, and consider the lower half of the bar, (as shown in the free body diagram), noting that by the denition of the bending moment, Mbend = M . The mass density of the ladder per unit length is
m 18 = = 4.5 kg/m. L 4 The mass of the lower part of the ladder is mx = (a) m (L x) kg. L (b) Dynamic case: Use the solution in Problem 18.77 for the reactions: B = 143.5 N, = 1.84 rad/s2 . Use the free body diagram and results of (a). The vector distance to the center of mass of the lower part from A is rG = x sin i + (L x) cos j (m), from which rG/A = L+x 2 sin i Lx 2 L+x 2 cos j (m) Lx 2
and rG/B =
sin i +
cos j (m).
Static Case: In the solution to Problem 18.77 the reactions B, F were B = 176.58 N, F = 50.97 N. Apply the static equilibrium conditions to the free body diagram to obtain: W (L x) (1) B + V sin + P cos = 0, L (2) cos P sin F = 0. The moment about the center of mass of the lower part of the ladder is (3) M Lx 2 (V + F cos ) + B Lx 2 sin = 0.
From kinematics: aG = aA + a rG/A , aG = aA + L+x 2 L+x 2 i 0 sin j 0 cos k , 0
= aA j + from which aGx =
( cos i + sin j) (m/s2 )
These three equations have the solutions: P = W Lx L Lx L B cos F sin ,
L+x 2
cos .
aG = aB + a rG/B (L x) 2 i 0 sin j 0 cos k , 0
V = W
B sin + F cos , Lx L
2
aG = aB i +
and Mbend = M =
WL 2
sin
= aB i from which aGy =
(L x) (i cos + j sin ) (m/s2 ), 2
+ (B sin F cos )(L x) The graph is shown. [Check: By denition, the bending moment is the integral of the shear, Mbend = V dx + C = W x x2 2L (B sin F cos )x + C. WL + 2
(L x) sin . 2
Apply Newtons second law and the equation of angular motion to the free body diagram, and substitute kinematic results to obtain B W (L x) Lx + V sin + P cos = m L L = m aGy
At x = L the bending moment is zero, from which C = (B sin F cos )L. Substitute: Mbend = WL 2 Lx L
2
sin + (B sin F cos )(L x).
(L x)2 2L
sin .
check. At x = 0, Mbend = 0, from which WL sin + (B sin F cos )L = 0 check.] 2
V cos P sin = m
Lx L Lx L
aGx L+x 2
=m Lx 2
cos .
M+
(V + B sin ) = IG N-m, 1 Lx m 12 L m(L x)3 . 12L
where IG =
(L x)2 =
The graphs are shown.
M V Lx F B
(L x) L
Shear and bending moment 80 60 40 20 0

20 40 60
Moment , N-m
Shear, N
.5
.1
1.5 2 x, m
2.5
3.5
Shear and bending moment 80 60 40 20 0 20 Shear, N 40 60 00 0 Dynamic Case .5 1 1.5 2 2.5 x, m 3 3.5 4 Bending Moment, N-m
Problem 18.79 Continue the calculations presented in Example 18.8, using t = 0.1 s, and determine the ladders angular position and angular velocity at t = 0.6 s and t = 0.7 s. Solution: The time was expressed as an array (list) such that t [i ] = t [1] + (i 1) t (1 i 8), t [1] = 0, t = 0.1 s. The rst values in the arrays for , and are [1] = 5 = 0.0873 rad, [1] = 0, [1] = 3g sin( [1]) = 0.3206 rad/s2 . The algorithm for integration is 2L
For i = 2 to i = 8, [i ] = [i 1] + [i 1] dt, [i 1] = 3g sin( [i 1]), 2L
4m
[i ] = [i 1] + [i 1] dt, Next i. The values are tabulated. The rst values agree with Example 18.10, as a check. t, s 0 .1 .2 .3 .4 .5 .6 .7 , rad .0873 .0873 .0905 .0969 .1066 .1199 .1371 .1587 , rad/s 0 .0321 .0641 .0974 .1329 .1721 .2161 .2664 , rad/s2 .3206 .3206 .3324 .3559 .3915 .4401 .5029 .5815
Problem 18.80 The moment of inertia of the helicopters rotor is 400 slug-ft2 . It starts from rest at t = 0, the engine exerts a constant torque of 500 ft-lb, and aerodynamic drag exerts a torque of magnitude 202 ft-lb, where is the rotors angular velocity in radians per second. Using t = 0.2 s, determine the rotors angular position and angular velocity for the rst ve time steps. Compare your results for the angular velocity with the closed-form solution. Solution: The angular acceleration is obtained from the equation of angular motion for the rotor, I = T 202 . For convenience, d denote b = 20. By denition, = , from which, separating varidt dt d = ables, . Make the reasonable assumption that T > b2 T b2 I over the time interval of interest. Integrate:
1 tanh1 bT b t = + C, T I is the closed form solution for the angular position. Substitute numerical values: = 5 tanh(0.25t), = 20 ln(cosh(0.25t)). Check: d d 20(0.25) sinh(0.25t) = 20 ln(cosh(0.25t)) = dt dt cosh(0.25t) = 5 tanh(0.25t). check. For the numerical integration the time is in an array t [i ] = t [1] + (i 1) t (1 i 6), where t = 0.2 s, t [1] = 0. The initial values are [1] = 0, [1] = 0. The numerical integration uses the algorithm: For i = 2 to i = 6, [i ] = [i 1] + [i 1] dt, [i 1] = 1.25 0.052 [i 1], [i ] = [i 1] + [i 1] dt, + C2 . Next i. The results are tabulated. The rst column is time, in seconds. The second column is the closed form solution for , rad/s. The third column is the value of , rad/s obtained from numerical integration. The fourth column is the closed form value of , rads. The fth column is the value of , rads, obtained from the numerical integration. Note that the latter values show poor agreement for the rst ve steps. (The agreement improves as the number of steps increases.) t, s 0 0.2 0.4 0.6 0.8 1 1.2 CF 0 0.2498 0.4983 0.7444 0.9869 1.225 1.457 Euler 0 0.25 0.4994 0.7469 0.9913 1.231 1.466 CF 0 0.025 0.0998 0.2242 0.3974 0.6186 0.8868 Euler 0 0 0.05 0.1499 0.2993 0.4975 0.7438
where C is a constant of integration. Rearrange: tanh1 b = T bT t + C1 , I
from which = T tanh b bT t I
When t = 0, = 0, from which C2 = 0. = T tanh b bT t I
which is the closed form solution for the angular velocity. Although not required by the problem, the closed form for the angular position is a straightforward integration: By denition, = d = dt T tanh b bT t . I
Integrate: = dt + C = bT t I T tanh b bT t I dt + C,
I ln cosh b
+C
where C is the constant of integration. When t = 0, cosh(0) = 1, ln(1) = 0, thus = 0 from which C = 0. = I ln cosh b bT t I
Problem 18.81 In Problem 18.80, draw a graph of the rotors angular velocity as a function of time from t = 0 to t = 10 s, comparing the closed-form solution, the numerical solution using t = 1.0 s and the numerical solution using t = 0.2 s. Solution: The graphs are shown. The difference between the closed form and the numerical solution is difcult to see on the scale of the graph for t = 0.2 s, but the closed form is slightly higher than the numerical solution over the entire range. The non-agreement is easy to see for t = 1 s.
Rotor angular velocity vs time 5 4.5 Closed form 4 Numerical 3.5 3 t = 0.2 s 2.5 2 1.5 1 .5 0 0 2 4 6 8 10 time, s 5 4.5 4 3.5 3 2.5 2 1.5 1 .5 0 Rotor angular velocity vs time
r a d s / s
r a d s / s
Closed form
Numerical t = 1 s 0 2 4 6 time, s 8 10
Problem 18.82 The slender 10-kg bar is released from rest in the horizontal position shown. Using t = 0.1 s, determine the bars angular position and angular velocity for the rst ve time steps. Solution: From the equation of angular motion, the moment about the pinned support at A is
WG L cos = IA , 2 IA = m 2 L , 3
1m
1m
where
Ay Ax
WG = mg, from which, by denition, = Substitute numerical values: d = 14.715 cos . dt The algorithm for numerical integration is [1] = 0, [1] = 0, For i = 2 to i = 6, [i ] = [i 1] + [i 1]dt, [i 1] = 14.715 cos( [i 1]), [i ] = [i 1] + [i 1]dt, Next i. The results are tabulated. t , (s) 0 0.1 0.2 0.3 0.4 0.5 , (rad/s) 0 1.472 2.943 4.399 5.729 6.665 , (rad) 0 0 0.1472 0.4415 0.8813 1.454 d 3g = cos . dt 2L
Problem 18.83 In Problem 18.82, determine the bars angular position and angular velocity as functions of time from t = 0 to t = 0.8 s, using t = 0.1 s, t = 0.01 s, and t = 0.001 s. Draw the graphs of the angular velocity as a function of the angular position for these three cases, and compare them with the graph of the closed-form solution for the angular velocity as a function of the angular position. Solution: From the solution to Problem 18.82, the angular acceleration is = 3g cos . 2L
6 5
, rads/s 3
Angular Velocity vs angle 6 5 4 3 Closed form Solution 2 1 0 .2 .4 .6

, rads
Angular Velocity vs angle
Use the chain rule and the denition of the angular velocity to obtain = d d d 3g d = = = cos . dt d dt d 2L
t = 0.1 s Numerical Solution
2 1 0
.8
.2
.4
.6
, rads
.8
Separate variables and integrate.

Angular Velocity vs angle Angular Velocity vs angle 6 5 4 t = 0.01 s 3 2 Numerical Solution 0 .2 .4 .6
, rads
2 =
3g sin + C. L
6 5 4 , rads/s 3 2
For = 0, = 0, from which C = 0, and the closed form solution is = 3g sin , L
t = 0.001 s
1 0
1 .8 1 0 0 .2
Numerical Solution .4 .6
, rads
.8
where the positive sign has been chosen from physical reasoning (the bar is swinging counterclockwise). The algorithm for numerical integration is that given in the solution to Problem 18.82.
Problem 18.84 In Problem 18.82, suppose that the bars pin support contains a damping device that exerts a resisting couple on the bar of magnitude c (N-m), where is the angular velocity in radians per second. Using t = 0.001 s, draw graphs of the bars angular velocity as a function of time from t = 0 to t = 0.8 s for the cases c = 0, c = 2, c = 4, and c = 8. Solution: From the application of the equation of angular motion
to the bar (see the solution to Problem 18.82) WG where L cos c = IA , 2 WG = mg, IA = m 2 L kg-m2 , 3
Response of damped bar 6 o m e g a , r a d / s c=0 5 4 3 2 1 0 c=2
c=4 c=8
from which
d 3g 3c . = cos dt 2L mL2
Substitute numerical values: d = 14.715 cos 0.3c. dt The algorithm for numerical integration is: [1] = 0, [1] = 0, For i = 2 to i = 6, [i ] = [i 1] + [i 1] dt, [i 1] = 14.715 cos( [i 1]) 0.3c[i 1], [i ] = [i 1] + [i 1] dt, Next i. The graphs are shown.
.1
.2
.3
.4 .5 time, s
.6
.7
.8
.9
Problem 18.85 The 18-kg ladder is released from rest in the position shown. The oor and wall are smooth. The ladder will lose contact with the wall before it hits the oor. Using t = 0.001 s, estimate the time and the value of the angle between the wall and the ladder when this occurs. Strategy: The formulation of the problem assumes that the ladder remains in contact with the wall. For times greater than the time at which it would lose contact, the solution for the normal force exerted on the ladder by the wall will become negative. So you can determine the time at which contact is lost by determining the time at which the normal force decreases to zero.
4m
Solution: Choose a coordinate system with the origin at the corner of the wall and oor, with the x axis parallel to the oor. Denote the contact point with the wall by P , the contact with the oor by N , and the center of mass by G. From Newtons second law and the equation of angular motion, P = maGx , N mg = may , and
N L sin 2 P L cos 2 = IG ,
The acceleration of the center of mass in terms of the acceleration of point N is aG = aN + rG/N 2 rG/N , i 0 aG = aN + L sin 2 2 j 0 L cos + 2 k 0
where IG =
1 mL2 . From kinematics: The vector distance 12 L (i sin j cos ). 2
L sin L cos i+ j . 2 2
rG/P = rG rP =
The constraint on the motion at N is such that aN = aN i, from which aGy = L ( sin + 2 cos ) 2
The acceleration of the center of mass in terms of the acceleration at point P is aG = aP + rG/P 2 rG/A , i 0 aG = aP + L sin 2 2 j 0 L cos 2 k 0
Collect results and substitute the kinematic relations to obtain: mL ( cos 2 sin ), 2 mL (2) N = mg ( sin + 2 cos ), 2 L cos L sin P = IG . (3) N 2 2 Substitute (1) and (2) into (3) and reduce to obtain (1) P = = 3g 2 mgL sin sin . = 4IG + mL2 2L
L sin L cos i j . 2 2
The constraint on the motion at P is such that aP = aP j, from which aGx = L ( cos 2 sin ). 2
The ladder leaves the wall when P = 0, when cos = 2 sin , so that (2) and (3) are not required in the numerical solution. Substitute numerical values: m = 18 kg, L = 4 m, to obtain P = 36( cos 2 sin ) N, = 3.68 sin rad/s2 . A copy of the algorithm used in TK Solver Plus is shown. The algorithm is a called procedure, returning the time and angle at which the force exerted by the wall vanishes. These values are: t = 1.554 s and = 0.8455 rads = 48.44 . Although not required by the problem, the graph of the force P against the time is shown.
[Check: An analytic solution: From P = 0, cos 2 sin = 0. 3g d Substitute = sin . Noting = , use the chain rule: 2L dt d d d 3g d = = = sin . dt d dt d 2L Separate variables and integrate: 2 2 = 3g cos + C. 2L
F o r c e , N
Assume that = 0 at 0 (the ladder wont start to fall if = 0 exactly, but we suppose that is very small), from which C = 3g , 2L 3g (1 cos ), L
Force exerted by wall 50 Initial values: 45 2 40 = 0.3206 rad/s = 5 35 = 0 30 25 P 20 15 10 5 0 5 0 .5 1 1.5 time, s
from which =
where the positive sign is taken because the ladder rotates counterclockwise. Substitute: 3g 3g sin cos (1 cos ) sin = 0. 2L L Reduce algebraically to obtain cos = 2 from which = 48.2 3
N W
Problem 18.86 A torsional spring exerts a counterclockwise couple k on the bar, where k = 20 N-m and is in radians. The 2-kg bar is 1 m long. At t = 0, the bar is released from rest in the horizontal position ( = 0). Using t = 0.01 s, determine the bars angular position and angular velocity for the rst ve time steps. Solution: The bars equation of angular motion is
M0 = I0 : mg(l/2) cos k = 1 2 ml 3
or
(2)(9.81)(1/2) cos 20 =
1 (2)(1)2 . 3
We see that =
dw = 14.715 cos 30 . dt
mg
Initial Conditions: At t0 = 0, (t0 ) = 0 and (t0 ) = 0. First Time Step: At t = t0 + (t0 + t = 0.01 s, the angle is
t) = (t0 ) + (t0 ) t = 0,
and the angular velocity is (t0 + t) = (t0 ) + (t0 ) t = [14.715 cos(0) 30(0)](0.01) = 0.1472 rad/s. Second Time Step: At t = t0 + 2 t = 0.02 s the angle is (t0 + 2 t) = (t0 + t) + (t0 + t) t
= (0.1472)(0.01) = 0.0015 rad, and the angular velocity is (t0 + 2 t) = (t0 + t) + (t0 + t) t = 0.1472
+ [14.715 cos(0) 30(0)](0.01) = 0.2943 rad/s. Continuing, we obtain t, s 0.00 0.01 0.02 0.03 0.04 0.05 , rad 0.0000 0.0000 0.0015 0.0044 0.0088 0.0147 , rad/s 0.0000 0.1472 0.2943 0.4410 0.5868 0.7313
Problem 18.87 Using a numerical solution with t = 0.001 s, estimate the maximum angle reached by the bar in Problem 18.86 when it is released from rest in the horizontal position. At what time after release does the maximum angle occur? Solution: Carrying out the numerical solution in the manner described in the solution of Problem 18.86, the resulting graph of as a function of time is shown below: By examining the computer results near the maximum, we estimate that the maximum angle = 0.867 rad or (49.7 ) occurs at t = 0.524 s.
, rad
0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 0.2 0.4 t, s 0.6 0.8 1
Problem 18.88 The axis L0 is perpendicular to both segments of the L-shaped slender bar. The mass of the bar is 6 kg and the material is homogeneous. Use integration to determine the moment of inertia of the bar about L0 .
1m
LO
2m
Solution: Let A be the bars cross-sectional area. The bars mass is m = 6 kg = A(3 m), so A = 2 kg/m.
For the horizontal part (Fig. a),
dm dx x r dm (a) LO (b) y
dy
Ih =
m
x 2 dm =
0
x 2 A dx =
16 8 A = kg-m2 . 3 3
LO
For the vertical part (Fig. b), Iv =

m
r 2 dm =
0
(22 + y 2 )A dy
13 26 A = kg-m2 . 3 3 I0 = Ih + Iv = 14 kg-m2 .
Therefore
Problem 18.89 Two homogenous slender bars, each of mass m and length l , are welded together to form the Tshaped object. Use integration to determine the moment of inertia of the object about the axis through point O that is perpendicular to the bars.
O l
Solution: Divide the object into two pieces, each corresponding to a slender bar of mass m; the rst parallel to the y -axis, the second to the x -axis. By denition
I=
0 l
r 2 dm +
m
r 2 dm.
For the rst bar, the differential mass is dm = A dr . Assume that the second bar is very slender, so that the mass is concentrated at a distance l from O . Thus dm = A dx , where x lies between the limits l l x 2 . The distance to a differential dx is r = l 2 + x 2 . Thus 2 the denition becomes I = A
0 l
r 2 dr + A
1 2 l 2
(l 2 + x 2 ) dx
I = A
r3 3
+ A l 2 x +
0
x3 3
1 2 1 2
= ml 2
1 1 +1+ 3 12
17 ml 2 12
Problem 18.90 The slender bar lies in the x y plane. Its mass is 6 kg and the material is homogeneous. Use integration to determine its moment of inertia about the z axis.
2m
50 1m
Solution: The density is =

Iz =
0 2 m 0 1 m
6 kg = 2 kg/m 3m
x d x
[(1 m + s cos 50 )2 + (s sin 50 )2 ] d s
2m
Iz = 15.1 kg-m2
50 1m x
Problem 18.91 The slender bar lies in the x y plane. Its mass is 6 kg and the material is homogeneous. Use integration to determine its moment of inertia about the y axis. Solution: The density is =
Iy =
0 2 m 0 1 m
6 kg = 2 kg/m 3m
x 2 d x
[(1 m + s cos 50 )2 ] d s
2m
Iy = 12.0 kg-m2
50 1m x
Problem 18.92 The homogeneous thin plate has mass m = 12 kg and dimensions b = 1 m and h = 2 m. Determine the mass moments of inertia of the plate about the x , y , and z axes. Strategy: The mass moments of inertia of a thin plate of arbitrary shape are given by Eqs. (18.37)(18.39) in terms of the moments of inertia of the cross-sectional area of the plate. You can obtain the moments of inertia of the triangular area from Appendix B. Solution:
y
m = 12 kg Area = 1 2 bh = mass/Area dm = dA
h x
h x
b
From Appendix B, IxA = 1 3 bh 36 IyA = 1 3 hb 36 Iy = IyA = 12 h 36 b3 = 1 (2)(1)3 3
Area =
1 (1)(2) = 1 m2 2
Iy = 0.667 kg-m2 Iz = Ix + Iy Iz = 2.667 + 0.667 kg-m2
= 12 kg/m2 Ix = y 2 dA = y 2 dA
Iz = 3.333 kg-m2
Ix = IxA , Iy = IyA Ix = 12 1 (1)(2)3 = 2.667 kg-m2 36
Problem 18.93 The brass washer is of uniform thickness and mass m. (a) (b) Determine its moments of inertia about the x and z axes. Let Ri = 0, and compare your results with the values given in Appendix C for a thin circular plate.
Ri
y Ro x
Solution:
(a) The area moments of inertia for a circular area are Ix = Iy = R4 . 4
Ri
Ro
For the plate with a circular cutout, Ix = 4 (R Ri4 ) 4 o
m The area mass density is , thus for the plate with a circular A cut, m m , = 2 R2 ) A (Ro i from which the moments of inertia I(x -axis) =
4 R4 ) m(Ro i 2 R2 ) 4(Ro i
m 2 (R + Ri2 ) 4 o
I(z-axis) = 2I(x -axis) = (b) Let Ri = 0, to obtain Ix -axis = m 2 R , 4 o m 2 R , 2 o
m 2 (R + Ri2 ). 2 o
I(z-axis) =
which agrees with table entries.
Problem 18.94 The homogenous thin plate is of uniform thickness and weighs 20 lb. Determine its moment of inertia about the y axis.
1 2 y=4 4 x ft
Solution: The denition of the moment of inertia is

I=
m
r 2 dm.
The distance from the y -axis is x , where x varies over the range m W 4 x 4. Let = = be the area mass density. The mass A gA W y dx . Substitute into the denition: of an element y dx is dm = gA Iy -axis = W gA W gA
4 4
x2 4
x2 4
+4 4
dx
4x 3 x5 3 20
W [68.2667]. gA
The area is A=
4 4
x2 4
dx = 4x
x3 12
4 4
= 21.333 ft2
The moment of inertia about the y -axis is I(y -axis) = W 20 (3.2) = (3.2) = 1.99 slug-ft2 . g 32.17
Problem 18.95 Determine the moment of inertia of the plate in Problem 18.94 about the x axis. Solution: The differential mass is dm =
of a mass element from the x -axis is y , thus W gA W 3gA
+4 4 x2 4 4 0
W dy dx . The distance gA
I=
dx
y 2 dy
3
+4 4
x2 4
dx
4 4
W 3 5 x7 64x 4x 3 + x 3gA 20 448 W [234.057]. 3gA
From the solution to Problem 18.94, A = 21.333 ft2 . Thus the moment of inertia about the x -axis is Ix -axis = W (234.057) W = (3.657) = 2.27 slug-ft2 . 3g (21.333) g
Problem 18.96 The mass of the object is 10 kg. Its moment of inertia about L1 is 10 kg-m2 . What is its moment of inertia about L2 ? (The three axes are in the same plane.)
0.6 m L L1
0.6 m L2
Solution: The strategy is to use the data to nd the moment of inertia about L, from which the moment of inertia about L2 can be determined.
IL = (0.6)2 (10) + 10 = 6.4 kg-m2 , from which IL2 = (1.2)2 (10) + 6.4 = 20.8 kg-m2
Problem 18.97 An engineer gathering data for the design of a maneuvering unit determines that the astronauts center of mass is at x = 1.01 m, y = 0.16 m and that her moment of inertia about the z axis is 105.6 kg-m2 . The astronauts mass is 81.6 kg. What is her moment of inertia about the z axis through her center of mass? Solution: The distance from the z axis to the z axis is d =
x 2 + y 2 = 1.02257 m. The moment of inertia about the z axis is
x x
Iz -axis = d 2 m + Iz-axis = (1.0457)(81.6) + 105.6 = 20.27 kg-m2
Problem 18.98 Two homogenous slender bars, each of mass m and length l , are welded together to form the T-shaped object. Use the parallel-axis theorem to determine the moment of inertia of the object about the axis through point O that is perpendicular to the bars.
O l
Solution: Divide the object into two pieces, each corresponding l to a bar of mass m. By denition I = 0 r 2 dm. For the rst bar, the differential mass is dm = Adr , from which the moment of inertia about one end is
I1 = A
0 l
is the moment of inertia about the center of the bar. From the parallel axis theorem, the moment of inertia about O is ml 2 ml 2 17 2 + l2m + = ml 3 12 12
I0 = r 2 dr = A r3 3
l
=
0
ml 2 . 3
For the second bar

l 2 l 2
I2 = A
r 2 dr = A
r3 3
l 2 l 2
ml 2 12
Problem 18.99 Use the parallel-axis theorem to determine the moment of inertia of the T-shaped object in Problem 18.98 about the axis through the center of mass of the object that is perpendicular to the two bars. Solution: The location of the center of mass of the object is
m x= l + lm 3 2 = l. 2m 4
Use the results of Problem 18.98 for the moment of inertia of a bar about its center. For the rst bar, I1 = l 4
2
m+
ml 2 7 = ml 2 . 12 48
For the second bar, I2 = l 4

2
m+
7 ml 2 = ml 2 . 12 48
The composite: Ic = I1 + I2 = 7 ml 2 24
Check: Use the results of Problem 18.98: Ic = 3l 4

2
(2m) +
17 2 ml 12
9 7 17 ml 2 = + ml 2 . check . 8 12 24
Problem 18.100 The mass of the homogeneous slender bar is 30 kg. Determine its moment of inertia about the z axis.
0.8 m
x 0.6 m 2m
Solution: The density is =

Iz =
30 kg = 10 kg/m 3m
1 1 (10 kg)(1.0 m)2 + (20 kg)(2 m)2 3 12 + (20 kg)[(1.6 m)2 + (0.8 m)2 ]
Iz = 74 kg-m2
Problem 18.101 The mass of the homogeneous slender bar is 30 kg. Determine the moment of inertia of the bar about the z axis through its center of mass. Solution: First locate the center of mass
x= (10 kg)(0.3 m) + (20 kg)(1.6 m) = 1.167 m 30 kg (10 kg)(0.4 m) + (20 kg)(0.8 m) = 0.667 m 30 kg
y=
Using the answer to 18.100 Iz = (74 kg-m2 ) (30 kg)(1.1672 + 0.6672 )m2 Iz = 19.8 kg-m2
Problem 18.102 The homogeneous slender bar weighs 5 lb. Determine its moment of inertia about the z axis.
4 in
Solution: The Bars mass is m = 5/32.2 slugs. Its length is L =

L1 + L2 + L3 = 8 + parts are therefore, M1 = L1 m= L L2 m= L L3 m= L
8 in
82 + 82 + (4) = 31.9 in. The masses of the
8 31.9 2(64) 31.9
5 32.2
= 0.0390 slugs,
M2 =
5 32.2 5 32.2
= 0.0551 slugs,
M3 =
4 31.9
= 0.0612 slugs.
The center of mass of part 3 is located to the right of its center C a distance 2R/ = 2(4)/ = 2.55 in. The moment of inertia of part 3 about C is r 2 dm = m3 r 2 = (0.0612)(4)2 = 0.979 slug-in2 .
m3
The moment of inertia of part 3 about the center of mass of part 3 is therefore I3 = 0.979 m3 (2.55)2 = 0.582 slug-in2 . The moment of inertia of the bar about the z axis is I(z = 1 1 2 2 2 m1 L 2 1 + m2 L2 + I3 + m3 [(8 + 2.55) + (4) ] 3 3
axis)
= 11.6 slug-in2 = 0.0803 slug-ft2 .
Problem 18.103 Determine the moment of inertia of the bar in Problem 18.102 about the z axis through its center of mass. Solution: In the solution of Problem 18.102, it is shown that the
moment of inertia of the bar about the z axis is I(z axis) = 11.6 slug-in . The x and y coordinates of the center of mass coincide with the centroid of the bar:
2
y=
y1 L1 + y2 L2 + y3 L3 L1 + L2 + L3 0 + (4) 82 + 82 + (4)(4) = 3.00 in. 8 + 82 + 82 + (4)
x=
x1 L1 + x2 L2 + x3 L3 L1 + L2 + L3
The moment of inertia about the z axis is I(z axis) = I(z (x2 + y2 ) 5 32.2 = 3.44 slug-in2 .
2(4) (4) (4)(8) + (4) 82 + 82 + 8 + = = 6.58 in, 8 + 82 + 82 + (4)
axis)
Problem 18.104 The rocket is used for atmospheric research. Its weight and its moment of inertia about the z axis through its center of mass (including its fuel) are 10,1000 lb and 10,200 slug-ft2 , respectively. The rockets fuel weighs 6000 lb, its center of mass is located at x = 3 ft, y = 0, and z = 0, and the moment of inertia of the fuel about the axis through the fuels center of mass parallel to z axis is 2200 slug-ft2 . When the fuel is exhausted, what is the rockets moment of inertia about the axis through its new center of mass parallel to z axis? Solution: Denote the moment of inertia of the empty rocket as IE
about a center of mass xE , and the moment of inertia of the fuel as IF about a mass center xF . Using the parallel axis theorem, the moment of inertia of the lled rocket is
2 m + I + x2 m , IR = IE + xE E F F F
From which
xE =
186.335 (3) = 4.5 ft 124.224
is the new location of the center of mass. Substitute:

2 m I x2 m IE = IR xE E F F F = 10200 2515.5 2200 1677.01 = 3810 slug-ft2
about a mass center at the origin (xR = 0). Solve: IE = IR xE 2 mE IF xF 2 mF .
The objective is to determine values for the terms on the right from the data given. Since the lled rocket has a mass center at the origin, the mass center of the empty rocket is found from 0 = mE xE + mF xF , from which xE = mF mE xF .
Using a value of g = 32 ft/s2 , mF = 6000 WF = = 186.34 slug, g 32.2 (WR WF ) 10000 6000 = = 124.23 slug. g 32.2
mE =
Problem 18.105 The mass of the homogeneous thin plate is 36 kg. Determine the moment of inertia of the plate about the x axis.
y 0.4 m 0.4 m
0.3 m
0.3 m x
Solution: Divide the plate into two areas: the rectangle 0.4 m by 0.6 m on the left, and the rectangle 0.4 m by 0.3 m on the right. The m mass density is = . A The area is
A = (0.4)(0.6) + (0.4)(0.3) = 0.36 m2 , from which = 36 = 100 kg/m2 . 0.36
The moment of inertia about the x -axis is Ix -axis = 1 (0.4)(0.63 ) + 3 1 (0.4)(0.3)3 = 3.24 kg-m2 3
Problem 18.106 Determine the moment of inertia of the plate in Problem 18.105 about the z axis. Solution: The basic relation to use is Iz-axis = Ix -axis + Iy -axis . The value of Ix -axis is given in the solution of Problem 18.105. The moment of inertia about the y -axis using the same divisions as in Problem 8.105 and the parallel axis theorem is
Iy -axis = 1 (0.6)(0.4)3 + 3 1 (0.3)(0.4)3 12
+ (0.6)2 (0.3)(0.4) = 5.76 kg-m2 , from which Iz-axis = Ix -axis + Iy -axis = 3.24 + 5.76 = 9 kg-m2
Problem 18.107 The mass of the homogeneous thin plate is 20 kg. Determine its moment of inertia about the x axis.
y 1000 mm
400 mm
400 mm
200 mm
200 mm
Solution: Break the plate into the three regions shown.

A = (0.2 m)(0.8 m) + (0.2 m)(0.4 m) + = 1 (0.4 m)(0.6 m) = 0.36 m2 2 = 55.6 kg/m2
1000
20 kg 0.36 m2
800 200 400
Using the integral tables we have Ix = 1 1 (0.2 m)(0.8 m)3 + (0.2 m)(0.4 m)3 + (0.2 m)(0.4 m)(0.6 m)2 3 12 + 1 1 (0.6 m)(0.4 m)3 + (0.6 m)(0.4 m)(0.667 m)2 36 2
200
= 0.1184 m4 Ix axis = (55.6 kg/m2 )(0.1184 m4 ) = 6.58 kg-m2
Problem 18.108 The mass of the homogeneous thin plate is 20 kg. Determine its moment of inertia about the y axis. Solution: See the solution to 18.107
Iy = 1 1 (0.8 m)(0.2 m)3 + (0.4 m)(0.2 m)3 + (0.2 m)(0.4 m)(0.3 m)2 3 12 + 1 1 (0.4 m)(0.6 m)3 + (0.6 m)(0.4 m)(0.6 m)2 36 2
= 0.0552 m4 Iy axis = (55.6 kg/m2 )(0.0552 m4 ) = 3.07 kg-m2
Problem 18.109 The thermal radiator (used to eliminate excess heat from a satellite) can be modeled as a homogeneous thin rectangular plate. The mass of the radiator is 5 slugs. Determine its moments of inertia about the x ,y , and z axes.
y 3 ft 6 ft
3 ft
2 ft x
Solution: The area is A = 9(3) = 27 ft2 .

The mass density is = m 5 = = 0.1852 slugs/ft2 . A 27
The moment of inertia about the centroid of the rectangle is Ixc = 1 9(33 ) = 3.75 slug-ft2 , 12 1 3(93 ) = 33.75 slug-ft2 . 12
Iyc =
Use the parallel axis theorem: Ix -axis = A(2 + 1.5)2 + Ixc = 65 slug-ft2 , Iy -axis = A(4.5 3)2 + Iyc = 45 slug-ft2 . Iz-axis = Ix -axis + Iy -axis = 110 slug-ft2
Problem 18.110 The mass of the homogeneous thin plate is 2 kg. Determine the moment of inertia of the plate about the axis through point O that is perpendicular to the plate.
10 mm O
80 mm 30 mm 30 mm 130 mm
Solution: By determining the moments of inertia of the area about the x and y axes, we will determine the moments of inertia of the plate about the x and y axes, then sum them to obtain the moment of inertia about the z axis, which is I0 .
The areas are
2 A1 = 1 2 (130)(80) mm ,
2 1 O 100 mm 30 mm x
A2 =
(10)2
mm2 .
Using Appendix B, Ix = 1 1 (130)(80)3 (10)4 + (30)2 A2 12 4
= 5.26 106 mm4 , Iy = 1 1 (80)(130)3 (10)4 + (100)2 A2 4 4
= 40.79 106 mm4 . Therefore I(x

axis)
= =
m Ix = 2150 kg-mm2 , A1 A 2 m Iy = 16700 kg-mm2 . A1 A 2
I(y
axis)
Then I(z I(z

axis)
= I(x
axis)
+ I(y
axis)
= 18850 kg-mm2 .
axis)
= 0.0188 kg-m2 .
Problem 18.111 The homogeneous cone is of mass m. Determine its moment of inertia about the z axis, and compare your result with the value given in Appendix C. Strategy: Use the same approach we used in Example 18.13 to obtain the moments of inertia of a homogeneous cylinder.
Solution: The differential mass

dm = m 3m r 2 dz = 2 r 2 dz. V R h 1 2 mr . The 2
The moment of inertia of this disk about the z-axis is radius varies with z, r = R h z, from which
Iz-axis =
3mR 2 2h5
h 0
z4 dz =
3mR 2 2h5
z5 5
=
0
3mR 2 10
Problem 18.112 Determine the moments of inertia of the homogeneous cone in Problem 18.111 about the x and y axes, and compare your results with the values given in Appendix C.
m 3m = . The differential V R2 h 2 element of mass is dm = r dz.. The moment of inertia of this elemental disk about an axis through its center of mass, parallel to the 1 2 r dm. Use the parallel axis theorem, x - and y -axes, is dIx = 4
Solution: The mass density is =
Ix =
m
1 2 r dm + 4
z2 dm.
m
Noting that r =
R z, then h z4 dz,
r 2 dm =
R4 h4
and z2 dm = R4 4h4
R2 h2
h 0
z4 dz. Substitute: R2 h2
h 0
Ix =
z4 dz + z5 5
h
z4 dz,
Ix =
3mR 2 3m + 3 4h5 h
=m
0
3 2 3 2 R + h 20 5
= Iy .
Problem 18.113 The homogeneous object has the shape of a truncated cone and consists of bronze with mass density = 8200 kg/m3 . Determine the moment of inertia of the object about the z axis.
x 60 mm
180 mm 180 mm
Solution: Consider an element of the cone consisting of a disk of thickness dz: We can express the radius as a linear function of zr = az + b. Using the conditions that r = 0 at z = 0 and r = 0.06 m at z = 0.36 m to evaluate a and b we nd that r = 0.167 z. From Appendix C, the moment of inertia of the element about the z axis is
(Iz )element = 1 2 1 1 mr = [( r 2 )dz]r 2 = (0.167z)4 dz. 2 2 2
y x r z dz z
We integrate this result to obtain the mass moment of inertia about the z axis for the cone: =
0.36 0.18
I(z
axis)
z5 1 (0.167)4 2 5
0.36 0.18 0.36 0.18
z5 1 (8200)(0.167)4 2 5
= 0.0116 kg-m2 .
Problem 18.114 Determine the moment of inertia of the object in Problem 18.113 about the x axis. Solution: Consider the disk element described in the solution to
Problem 18.113. The radius of the laminate is r = 0.167z. Using Appendix C and the parallel axis theorem, the moment of inertia of the element about the x axis is (Ix )element = = 1 2 1 mr + mz2 = [( r 2 )dz]r 2 + [( r 2 )dz]z2 4 4 1 (0.167z)4 dz + (0.167z)2 z2 dz. 4
Integrating the result, = 1 (0.167)4 4

0.36 0.18
I(x
axis)
z4 dz + (0.167)2
0.36 0.18
z4 dz
= 0.844 kg-m2 .
Problem 18.115 The homogeneous rectangular parallelepiped is of mass m. Determine its moments of inertia about the x , y , and z axes and compare your results with the values given in Appendix C.
a z
Solution: Consider a rectangular slice normal to the x -axis of

dimensions b by c and mass dm. The area density of this slice is dm . The moment of inertia about the y axis of the centroid of a = bc thin plate is the product of the area density and the area moment of iner1 1 tia of the plate: dIy = bc3 , from which dIy = c2 dm. 12 12 By symmetry, the moment of inertia about the z axis is dIz = 1 b2 dm. 12
By symmetry, the argument can be repeated for each coordinate, to obtain Iy = m 2 (a + c2 ) 12 Iz = m 2 (b + a 2 ) 12
Since the labeling of the x - y - and z-axes is arbitrary, dIx = dIz + dIy , where the x -axis is normal to the area of the plate. Thus dIx = 1 12 b2 + c2 dm,
from which Ix = 1 (b2 + c2 ) 12 dm = m 2 (b + c2 ) . 12
Problem 18.116 The sphere-capped cone consists of material with density 7800 kg/m3 . The radius R = 80 mm. Determine its moment of inertia about the x axis.
x 4R
Solution: Given = 7800 kg/m3 , R = 0.08 m

Using the tables we have Ix = 1 2 3 2 R 2 [4R ] R 2 + R3 R2 10 3 5 3
Ix = 0.0535 kg-m2
Problem 18.117 Determine the moment of inertia of the sphere-capped cone in Problem 18.116 about the y axis. Solution: The center of mass of a half-sphere is located a distance
3R from the geometric center of the circle. 8 1 Iy = R 2 [4R ] 3 2 R3 3 Iy = 2.08 kg-m2 2 2 3 3 2 [4R ]2 + R + R3 R2 5 20 5 3 3R 8
2
2 + R3 3
4R +
3R 8
Problem 18.118 The circular cylinder is made of aluminum (Al) with density 2700 kg/m3 and iron (Fe) with density 7860 kg/m3 . Determine its moment of inertia about the x axis.
y y Al z 600 mm
Fe
200 mm z 600 mm x, x
Solution:
Ix = 1 [(2700 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2 2 + 1 [(7860 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2 2
Ix = 0.995 kg-m2
Problem 18.119 Determine the moment of inertia of the composite cylinder in Problem 18.118 about the y axis. Solution: First locate the center of mass
[(2700 kg/m3 )(0.1 m)2 (0.6 m)](0.3 m) + [(7860 kg/m3 )(0.1 m)2 (0.6 m)](0.9 m) x= 3 (2700 kg/m )(0.1 m)2 (0.6 m) + (7860 kg/m3 )(0.1 m)2 (0.6 m) x = 0.747 m Iy = [(2700 kg/m3 )(0.1 m)2 (0.6 m)] 1 1 (0.6 m)2 + (0.1 m)2 12 4
+ [(2700 kg/m3 )(0.1 m)2 (0.6 m)](x 0.3 m)2 + [(7680 kg/m3 )(0.1 m)2 (0.6 m)] 1 1 (0.6 m)2 + (0.1 m)2 12 4
+ [(7680 kg/m3 )(0.1 m)2 (0.6 m)](0.9 m x)2 Iy = 20.1 kg-m2
Problem 18.120 The homogeneous machine part is made of aluminum alloy with mass density = 2800 kg/m3 . Determine the moment of inertia of the part about the z axis.
y 20 mm x 40 mm 120 mm z
40 mm
Solution: We divide the machine part into the 3 parts shown: (The dimension into the page is 0.04 m) The masses of the parts are
m1 = (2800)(0.12)(0.08)(0.04) = 1.075 kg,
2 m2 = (2800) 1 2 (0.04) (0.04) = 0.281 kg,
0.12 m 1 x y 0.12 m x 0.04 m
0.08 m y
+ C 2 0.12 m
m3 = (2800)(0.02)2 (0.04) = 0.141 kg. Using Appendix C and the parallel axis theorem the moment of inertia of part 1 about the z axis is I(z = 1 m1 [(0.08)2 + (0.12)2 ] + m1 (0.06)2 12
x 0.02 m
axis)1
= 0.00573 kg-m2 . The moment of inertia of part 2 about the axis through the center C that is parallel to the z axis is
1 2 2 m2 R 2 = 1 2 m2 (0.04)
The distance along the x axis from C to the center of mass of part 2 is 4(0.04)/(3 ) = 0.0170 m. Therefore, the moment of inertia of part 2 about the z axis through its center of mass that is parallel to the axis is
1 2 2 m2 (0.04)
m2 (0.0170)2 = 0.000144 kg-m2 .
Using this result, the moment of inertia of part 2 about the z axis is I(z
axis)2
= 0.000144 + m2 (0.12 + 0.017)2 = 0.00544 kg-m2 .
The moment of inertia of the material that would occupy the hole 3 about the z axis is I(z
axis)3 2 2 2 = 1 2 m3 (0.02) + m3 (0.12) = 0.00205 kg-m .
Therefore, I(z
axis)
= I(z
axis)1
+ I(z
axis)2
I(z
axis)3
= 0.00911 kg-m2 .
Problem 18.121 Determine the moment of inertia of the machine part in Problem 18.120 about the x axis. Solution: We divide the machine part into the 3 parts shown in the solution to Problem 18.120. Using Appendix C and the parallel axis theorem, the moments of inertia of the parts about the x axis are:
I(x
axis)1
1 m1 [(0.08)2 + (0.04)2 ] 12
= 0.0007168 kg-m2 I(x = m2 1 1 (0.04)2 + (0.04)2 12 4
axis)2
= 0.0001501 kg-m2 I(x = m3 1 1 (0.04)2 + (0.02)2 12 4
axis)3
= 0.0000328 kg-m2 . Therefore, I(x axis) = I(x

axis)1
+ I(x
axis)2
I(x
axis)3
= 0.000834 kg-m2 .
Problem 18.122 The object shown consists of steel of density = 7800 kg/m3 of width w = 40 mm. Determine the moment of inertia about the axis L0 .
20 mm O 100 mm
Solution: Divide the object into four parts:

The semi-cylinder of radius R = 0.02 m, height h1 = 0.01 m. Part (2): The rectangular solid L = 0.1 m by h2 = 0.01 m by w = 0.04 m. Part (3): The semi-cylinder of radius R = 0.02 m, h1 = 0.01 m Part (4): The cylinder of radius R = 0.02 m, height h = 0.03 m. Part (1): Part (1) m1 = R 2 h1 = 0.049 kg, 2 m1 R 2 = 4.9 106 kg-m2 , 4
10 mm L0
30 mm
Part (4)
m4 = R 2 h = 0.294 kg, I4 =
1 2
m4 (R 2 ) + m4 L2 = 0.003 kg-m2 .
The composite: IL0 = I1 + I2 I3 + I4 = 0.00367 kg-m2
I1 = Part (2)
m2 = wLh2 = 0.312 kg, I2 = (1/12)m2 (L2 + w 2 ) + m2 (L/2)2 = 0.00108 kg-m2 .
Part (3)
m3 = m1 = 0.049 kg, I3 = 4R 3
2
m2 + I1 + m3 L
4R 3
= 0.00041179 kg-m2 .
Problem 18.123 Determine the moment of inertia of the object in Problem 18.122 about the axis through the center of mass of the object parallel to L0 . Solution: The center of mass is located relative to L0 is given by
m1 x= 4R 3 + m2 (0.05) m3 0.1 m1 + m2 m3 + m4 4R 3 + m4 (0.1)
= 0.066 m, Ic = x2 m + ILo = 0.00265 + 0.00367 = 0.00102 kg-m2
Problem 18.124 The thick plate consists of steel of density = 15 slug/ft3 . Determine the moment of inertia of the plate about the z axis.
4 in 2 in
2 in x z
Solution: Divide the object into three parts: Part (1) the rectangle
8 in by 16 in, Parts (2) & (3) the cylindrical cut outs. Part (1): m1 = 8(16)(4) = 4.444 slugs. I1 = (1/12)m1 (162 + 82 ) = 118.52 slug-in2 . Part (2): m2 = (22 )(4) 1 123 = 0.4363 slug,
4 in 4 in 8 in 4 in 4 in
I2 = Part (3):
m2 (22 ) + m2 (42 ) = 7.854 slug-in2 . 2
m3 = m2 = 0.4363 slugs, I3 = I2 = 7.854 slug-in2 .
The composite: Iz-axis = I1 2I2 = 102.81 slug-in2 Iz-axis = 0.715 slug-ft2
Problem 18.125 Determine the moment of inertia of the object in Problem 18.124 about the x axis. Solution: Use the same divisions of the object as in Problem 18.124.
Part (1) : I1x -axis = 1 m1 (82 + 42 ) = 29.63 slug-in2 , 12
Part (2) : I2x -axis = (1/12)m2 (3(22 ) + 42 ) = 1.018 slug-in2 . The composite: Ix -axis = I1x -axis 2I2x -axis = 27.59 slug in2 = 0.1916 slug ft2
Problem 18.126 The airplane is at the beginning of its takeoff run. Its weight is 1000 lb. and the initial thrust T exerted by its engine is 300 lb. Assume that the thrust is horizontal, and neglect the tangential forces exerted on its wheels. (a) (b) If the acceleration of the airplane remains constant, how long will it take to reach its takeoff speed of 80 mi/hr? Determine the normal force exerted on the forward landing gear at the beginning of the takeoff run.
6 in
1 ft
7 ft
Solution: The acceleration under constant thrust is

a= T 300(32.2) = = 9.66 ft/s2 . m 1000
W T
The time required to reach 80 mph = 117.33 ft/s is t= v 117.33 = = 12.1 s a 9.66 Fy = R + F W = 0. The sum of
The sum of the vertical forces: the moments: F = 143.75 lb
M = 7F 0.5T 1R = 0. Solve: R = 856.25 lb,
Problem 18.127 The pulleys can turn freely on their pin supports. Their moments of inertia are IA = 0.002 kg-m2 , IB = 0.036 kg-m2 , and IC = 0.032 kg-m2 . They are initially stationary, and at t = 0 a constant M = 2 N-m is applied at pulley A. What is the angular velocity of pulley C and how many revolutions has it turned at t = 2 s? Solution: Denote the upper and lower belts by the subscripts U
and L. Denote the difference in the tangential component of the tension in the belts by TA = TLA TU A , TB = TLB TU B . From the equation of angular motion: M + RA TA = IA A , RB 1 TA + RB 2 TB = IB B , RC TB = IC C . From kinematics, RA A = RB 1 B , RB 2 B = RC C , from which A = RB 1 RC (0.2)(0.2) C = 4C , C = RA RB 2 (0.1)(0.1) RC 0.2 C = C = 2C . RB 2 0.1
100 mm 100 mm
A 200 mm B C
200 mm
RB 1 TUA A RA B TLA
TUB C TLB RB 2 RC
B =
Substitute and solve: C = 38.5 rad/s2 , from which C = C t = 76.9 rad/s 1 2 C 2 (2 ) = 12.2 revolutions 4
N =
Problem 18.128 A 2-kg box is subjected to a 40-N horizontal force. Neglect friction. (a) (b) If the box remains on the oor, what is its acceleration? Determine the range of values of c for which the box will remain on the oor when the force is applied.
40 N c
A 100 mm 100 mm
Solution:
(a) From Newtons second law, 40 = (2)a , from which a= (b) 40 = 20 m/s2 . 2
A 100 mm 100 mm 40 N C mg B
The sum of forces: Fy = A + B mg = 0. The sum of the moments about the center of mass: M = 0.1B 0.1A 40c = 0. Substitute the value of B from the rst equation into the second equation and solve for c: c= (0.1)mg (0.2)A 40
The box leg at A will leave the oor as A 0, from which c (0.1)(2)(9.81) 0.0491 m 40
for values of A 0.
Problem 18.129 The slender, 2-slug bar AB is 3 ft long. It is pinned to the cart at A and leans against it at B . (a) (b) If the acceleration of the cart is a = 20 ft/s , what normal force is exerted on the bar by the cart at B ? What is the largest acceleration a for which the bar will remain in contact with the surface at B ?
2
B a
60
Solution: Newtons second law applied to the center of mass of

the bar yields B + Ax = maGx , Ay W = maGy , Ay L cos 2 + (B + Ax ) L sin 2 = IG ,
W Ax Ay
where aGx , aGy are the accelerations of the center of mass. From kinematics,
2 2 r aG = aA + rG/A AB G/A = 20i ft/s
where = 0, AB = 0 so long as the bar is resting on the cart at B and is pinned at A. Substitute the kinematic relations to obtain three equations in three unknowns: B + Ax = ma, Ay W = 0, Ay L cos 2 + (B + Ax ) L sin 2 = 0.
ma W cot . For W = mg = 64.34 lb, = 60 , m = 2 2 2 2 slug, and a = 20 ft/s , B = 1.43 lb, from which the bar has moved away from the cart at point B. (b) The acceleration that produces a zero normal force is Solve: B = a = g cot = 18.57 ft/s2 .
Problem 18.130 To determine a 4.5-kg tires moment of inertia, an engineer lets the tire roll down an inclined surface. If it takes the tire 3.5 s to start from rest and roll 3 m down the surface, what is the tires moment of inertia about its center of mass?
330 mm
15
Solution: From Newtons second law and the angular equation of

motion, mg sin 15 f = ma, Rf = I . From these equations and the relation a = R , we obtain a= mg sin 15 . m + I /R 2
mg f N
(1)
We can determine the acceleration from s= 3= 1 2 at : 2 1 a(3.5)2 , 2
obtaining a = 0.490 m/s2 . Then from Eq. (1) we obtain I = 2.05 kg-m2 .
Problem 18.131 Pulley A weighs 4 lb, IA = 0.060 slug-ft2 , and IB = 0.014 slug-ft2 . If the system is released from rest, what distance does the 16-lb weight fall in 0.5 s?
8 in B
12 in
16 lb 8 lb
Solution: The strategy is to apply Newtons second law and the equation of angular motion to the free body diagrams. Denote the rightmost weight by WR = 16 lb, the mass by mR = 0.4974 slug, and the leftmost weight by WL = 4 + 8 = 12 lb, and the mass by mL = 0.3730 slug. RB = 8 in. is the radius of pulley B, IB = 0.014 slug-ft2 , and RA = 12 in. is the radius of pulley A, and IA = 0.060 slug-ft2 . Choose a coordinate system with the y axis positive upward.
The 16 lb. weight: (1) T1 WR = mR aRy .
T3
T2 T2 T1 T1 WL WR
Pulley B: The center of the pulley is constrained against motion, and the acceleration of the rope is equal (except for direction) on each side of the pulley. (2) RB T1 + RB T2 = IB B . From kinematics, (3) aRy = RB B . Combine (1), (2) and (3) and reduce: (4) T2 = WR + IB + mR aRy 2 RB
The total system: Equate (4) and (9) (the two expressions for T2 ) and solve: WL WR 2 + IA mL IB + mR + + 2 2 4 RB 4RA
aRy =
Pulley A: (5) T2 + T3 WL = mL aAy , where aAy is the acceleration of the center of the pulley. (6) RA T3 + RA T2 = IA A . From the kinematics of pulley A, the acceleration of the left side of the pulley is zero, so that the acceleration of the right side relative to the left side is aright = aRy j = aleft + A (2RA i) i = 0 2RA j k 0 A = 0 + 2RA A j, 0 0
Substitute numerical values: aRy = 15.7 ft/s2 . The distance that the 16 lb. weight will fall in one-half second is s= aRy 2 15.7 t = = 1.96 ft 2 8
from which (7) aRy = 2RA A , where the change in direction of the acceleration of the 16 lb. weight across pulley B is taken into account. Similarly, the acceleration of the right side relative to the acceleration of the center of the pulley is aAright = aRy j = aA + A (RA i) = aA + RA A j, from which (8) aAy = aRy . Combine (5), (6), (7) and (8) and reduce 2 IA WA mA + ay . to obtain (9) T2 = 2 2 4 4RA
Problem 18.132 Model the excavators arm ABC as a single rigid body. Its mass is 1200 kg, and the moment of inertia about its center of mass is I = 3600 kg-m2 . If point A is stationary, the angular velocity of the arm is zero, and the angular acceleration is 1.0 rad/s2 counterclockwise, what force does the vertical hydraulic cylinder exert on the arm at B ?
y C
B 2.4 m A 3.0 m
1.7 m
1.7 m
Solution: The distance from A to the center of mass is

d= (3.4)2 + (3)2 = 4.53 m.
Ax Ay B mg
The moment of inertia about A is IA = I + d 2 m = 28,270 kg-m2 . From the equation of angular motion: 1.7B 3.4mg = IA . Substitute = 1.0 rad/s2 , to obtain B = 40,170 N.
Problem 18.133 Model the excavators arm ABC as a single rigid body. Its mass is 1200 kg, and the moment of inertia about its center of mass is I = 3600 kg-m2 . The angular velocity of the arm is 2 rad/s counterclockwise and its angular acceleration is 1 rad/s2 counterclockwise. What are the components of the force exerted on the arm at A? Solution: The acceleration of the center of mass is
aG = rG/A 2 rG/B i j = 0 0 3.4 3 k 2 (3.4i + 3j) 0
= 16.6i 8.6j m/s2 . From Newtons second law: Ax = maGx = 19,900 N, Ay + B mg = maGy . From the solution to Problem 18.132, B = 40,170 N, from which Ay = 38,720 N
Problem 18.134 To decrease the angle of elevation of the stationary 200-kg ladder, the gears that raised it are disengaged, and a fraction of a second later a second set of gears that lower it are engaged. At the instant the gears that raised the ladder are disengaged, what is the ladders angular acceleration and what are the components of force exerted on the ladder by its support at O ? The moment of inertia of the ladder about O is I0 = 14,000 kg-m2 , and the coordinates of its center of mass at the instant the gears are disengaged are x = 3 m, y = 4 m.
Solution: The moment about O, mgx = Io , from which

(200)(9.81)(3) = 0.420 rad/s2 . = 14,000 The acceleration of the center of mass is i = 0 3 j k 0 = 4 i + 3 j 4 0
y (x , y) mg Fy x Fx
aG = rG/O 2 rG/O
aG = 1.68i 1.26j (m/s2 ). From Newtons second law: Fx = maGx = 336 N, Fy mg = maGy , from which Fy = 1710 N
Problem 18.135 The slender bars each weigh 4 lb and are 10 in. long. The homogenous plate weighs 10 lb. If the system is released from rest in the position shown, what is the angular acceleration of the bars at that instant?
40 in
45 8 in
Solution: From geometry, the system is a parallelogram, so that

the plate translates without rotating, so that the acceleration of every point on the plate is the same. Newtons second law and the equation of angular motion applied to the plate: FAx FBx = mp aP Gx , FAy + FBy Wp = mp aP Gy . The motion about the center of mass: FAy 20 12 20 12 + FAx 4 12 + FBx 4 12
Ay Ax FAx 4 lb. FAy FAy FAx FBy FBx 4 lb.
B y Bx
FBy FBx
+ FBy
= Ip = 0. Substitute to obtain the nine equations in nine unknowns: (1) FAx FBx = 10 mp sin , 12 10 mp cos , 12
Newtons second law for the bars: FAy + Ay WB = mB aBGy , FAx + Ax = mB aBGx . FBy + By WB = mB aBGy . FBx + Bx = mB aBGx . The angular acceleration about the center of mass: FAx 5 cos + FAy 12 5 sin Ax 12 5 12
(2) (3)
FAy + FBy Wp =
cos + Ay
5 sin = IB , 12 5 sin Bx 12 5 12
20FAy + 4FAx + 20FBy + 4FBx = 0, FAy + Ay WB = 5 mB cos , 12
FBx
5 cos + FBy 12
(4)
cos + By
5 sin = IB . 12
(5)
FAx + Ax =
5 mB sin , 12 12 IB , 5
From kinematics: the acceleration of the center of mass of the bars in terms of the acceleration at point A is aBG = rG/A 2 rG/A = i 0 5 cos 12 j 0 5 sin 12 k 0
(6)
FAx sin + FAy cos Ax sin + Ay cos = 5 mB sin , 12 5 mB cos , 12
(7)
FBx + Bx =
(8)
FBy + By WB =
5 5 sin i cos j (ft/s2 ). 12 12
(9)
FBx cos + FBy sin Bx cos + By sin =
From which aBGx = 5 sin , 12 aBGy = 5 cos , 12
12 IB . The 5 number of equations and number of unknowns can be reduced by combining equations, but here the choice is to solve the system by iteration using TK Solver Plus. The results: FAx = 2.21 lb, FAy = 1.68 lb, FBx = 3.32 lb, Ax = 3.32 lb, Ay = 4.58 lb, Bx = 4.42 lb, By = 5.68 lb. = 30.17 rad/s2 .
since = 0 upon release. The acceleration of the plate: aP = rP /A 2 rP /A = i 0 10 cos 12 j 0 10 sin 12 k 0
10 10 sin i cos j (ft/s2 ). 12 12 aP x = 10 10 sin , aP y = cos . 12 12
From which
Problem 18.136 A slender bar of mass m is released from rest in the position shown. The static and kinetic friction coefcients of friction at the oor and the wall have the same value . If the bar slips, what is its angular acceleration at the instant of release? Solution: Choose a coordinate system with the origin at the intersection of wall and oor, with the x axis parallel to the oor. Denote the points of contact at wall and oor by P and N respectively, and the center of mass of the bar by G. The vector locations are
rN = iL sin , rP = jL cos , rG = From Newtons second law: P N = maGx , N + P mg = maGy , where aGx , aGy are the accelerations of the center of mass. The moment about the center of mass is MG = rP /G (P i + P j) + rN/G (Nj Ni) : i PL MG = sin 2 1 j cos k i NL sin 0+ 2 0 j cos 1 k 0. 0 Substitute to obtain the three equations in three unknowns, (1) (2) (3) PL (cos + sin )k + MG = 2 From the equation of angular motion, PL (cos + sin ) + 2 NL (sin cos ) = IB 2 NL (sin cos )k 2 mL cos , 2 mL sin P + N = + mg . 2 PL NL (cos + sin ) + (sin cos ) = IB . 2 2 P N = L (i sin + j cos ). 2
Solve the rst two equations for P and N : P = mL mg (cos sin ) + . 2(1 + 2 ) (1 + 2 ) mg mL (sin + cos ) + . 2(1 + 2 ) (1 + 2 )
N =
From kinematics: Assume that at the instant of slip the angular velocity = 0. The acceleration of the center of mass in terms of the acceleration at point N is aG = aN + rG/N 2 rG/N = aN i + i 0 L sin 2 j 0 L cos 2 i+ L sin . 2 k 0
Substitute the rst two equations into the third, and reduce to obtain IB + mL2 4 1 2 1 + 2 1 + 2
1 12
mgL 2
1 2 1 + 2
sin mgL Substitute IB = j, =
cos .
mL2 , reduce, and solve:
aG = aN
L cos 2
L sin 2
(3(1 2 ) sin 6 cos )g (2 2 )L
from which aGy =
The acceleration of the center of mass in terms of the acceleration at point P is aG = aP + rG/P . aG = aP + rG/P 2 rG/P i 0 = aP j + L sin 2 aG = L cos 2 j 0 L cos 2 k , 0
mg N
i + aP +
L sin 2
j,
from which aGx =
L cos . 2
Problem 18.137 Each of the go-carts front wheels weighs 5 lb and has a moment of inertia of 0.01 slug-ft2 . The two rear wheels and rear axle form a single rigid body weighing 40 lb and having a moment of inertia of 0.1 slug-ft2 . The total weight of the go-cart and driver is 240 lb. (The location of the center of mass of the gocart and driver, not including the front wheels or the rear wheels and rear axle, is shown.) If the engine exerts a torque of 12 ft-lb on the rear axle, what is the go-carts acceleration?
15 in 6 in A 16 in 60 in 4 in B
Solution: Let a be the carts acceleration and A and B the wheels angular accelerations. Note that
a = (6/12)A , a = (4/12)B . Front wheel: Fx = Bx + fB = (10/32.2)a, Fy = By + NB 10 = 0, (3) (1) (2)
Ax
12 ft-lb 240 50 lb
Bx By By
10 lb
12 ft-lb Ay 40 lb NA
(4)
Ay
Ax fA
Bx fB
NB
M = fB (4/12) = (0.02)B . (5) Rear Wheel: Fx = Ax + fA = (40/32.2)a, Fy = Ay + NA 40 = 0, (6) (7)
M = 12 fA (6/12) = (0.1)A . (8) Cart: Fx = Ax Bx = (190/32.2)a, Fy = Ay By 190 = 0, M = Bx [(15 4)/12] + By [(60 16)/12] + Ax [(15 6)/12] Ay (16/12) 12 = 0. Solving Eqs. (1)(11), we obtain a = 2.99 ft/s2 . (11) (9) (10)
Problem 18.138 Bar AB rotates with a constant angular velocity of 10 rad/s in the counterclockwise direction. The masses of the slender bars BC and CDE are 2 kg and 3.6 kg, respectively. The y axis points upward. Determine the components of the forces exerted on bar BC by the pins at B and C at the instant shown.
y B 400 mm A 10 rad/s C D E x 400 mm
700 mm
700 mm
Solution: The velocity of point B is

vB = AB i rB = 0 0 j k 0 10 0.4 0
By Bx Cy WBC Cx Cy Cx
= 0.4(10)i = 4i (m/s). The velocity of point C is i = 4i + 0 0.7 j k 0 BC 0.4 0
WCE
vC = vB + BC rC/B
The acceleration of the center of mass of BC is i j k 2 (0.35i 0.2j), aG = 40j + 0 0 BC BC 0.35 0.2 0 from which aG = 61.25i + 148.44j (m/s2 ) The equations of motion: Bx + Cx = mBC aGx , By + Cy mBC g = mBC aGy , where the accelerations aGx , aGy are known. The moment equation, 0.35Cy + 0.2Cx 0.2Bx 0.35By = IBC BC , where BC , is known, and IBC = 1 2 mBC L2 BC = 0.1083 kg-m , 0.4Cy 0.15mCE g = ID CE , 12 ID = 1 2 2 mCE L2 CE + (0.15) mCE = 0.444 kg-m , 12
= 4i + 0.4BC i + 0.7BC j (m/s). From the constraint on the motion at point C , vC = vC j. Equate components: 0 = 4 + 0.4BC , vC = 0.7BC , from which BC = 10 rad/s, vC = 7 m/s. The velocity at C in terms of the angular velocity CDE , vC = vD + CDE rC/D i j k =0+ 0 0 CDE = 0.4CDE j, 0.4 0 0 from which CDE = 7 = 17.5 rad/s. 0.4
where
The acceleration of point B is

2 r = (102 )(0.4)j = 40j (m/s2 ). aB = AB B 2 r The acceleration at point C is aC = aB + BC rC/B BC C/B .
is the moment of inertia about the pivot point D , and 0.15 m is the distance between the point D and the center of mass of bar CDE . Solve these four equations in four unknowns by iteration: Bx = 1959 N, By = 1238 N, Cx = 2081 N,
2
i aC = 40j + 0 0.7 aC =
j k 2 (0.7i 0.4j) (m/s2 ). 0 BC BC 0.4 0

2 )j + 0.4BC
2 )i + (40 + 0.7 +(0.4BC 0.7BC BC
(m/s ).
Cy = 922 N.
The acceleration in terms of the acceleration at D is i j k 2 (0.4i) aC = 0 0 CDE CDE 0.4 0 0

2 = 0.4CDE j + 0.4CDE i.
Equate components and solve: BC = 481.25 rad/s2 , CDE = 842.19 rad/s2 .
Problem 18.139 At the instant shown, the arms of the robotic manipulator have the constant counterclockwise angular velocities AB = 0.5 rad/s, BC = 2 rad/s, and CD = 4 rad/s. The mass of arm CD is 10 kg, and the center of mass is at its midpoint. At this instant, what force and couple are exerted on arm CD at C ?
250
30 m 0m
mm
30 A
20 D C 250 mm x
Solution: The relative vector locations of B , C , and D are

rB/A = 0.3(i cos 30 + j sin 30 ) = 0.2598i + 0.150j (m), rC/B = 0.25(i cos 20 j sin 20 ) = 0.2349i 0.08551j (m), rD/C = 0.25i (m). The acceleration of point B is
2 r 2 aB = AB B/A = (0.5 )(0.3 cos 30 i + 0.3 sin 30 j),
Cy Cx C 125 mm mg D
aB = 0.065i 0.0375j (m/s2 ). The acceleration at point C is

2 r 2 aC = aB BC C/B = aB BC (0.2349i 0.08551j).
aC = 1.005i + 0.3045j (m/s2 ). The acceleration of the center of mass of CD is

2 (0.125i) (m/s2 ), aG = aC CD
from which aG = 3.005i + 0.3045j (m/s2 ). For the arm CD the three equations of motion in three unknowns are Cy mCD g = mCD aGy , Cx = mCD aGx , M 0.125Cy = 0, which have the direct solution: Cy = 101.15 N, Cx = 30.05 N. M = 12.64 N-m, where the negative sign means a direction opposite to that shown in the free body diagram.
Problem 18.140 Each bar is 1 m in length and has a mass of 4 kg. The inclined surface is smooth. If the system is released from rest in the position shown, what are the angular accelerations of the bars at that instant?
45
30
Solution: For convenience, denote = 45 , = 30 , and L =

1 m. The acceleration of point A is aA = OA rA/O = i 0 L cos j 0 L sin k OA . 0
Ay Ax
Ax Ay
mg
mg 30 B
aA = OA (iL sin + jL cos ) (m/s2 ). The acceleration of A is also given by aA = aB + AB rA/B . aA = aB + i 0 L cos j 0 L sin k AB . 0
The equations of motion for the bars: for the pin supported left bar: (5) Ay L cos Ax L sin mg mL2 3 L cos = IOA OA , 2
where IOA =
4 kg-m2 . 3
aA = aB iAB L sin jAB L cos (m/s2 ). From the constraint on the motion at B , Equate the expressions for the acceleration of A to obtain the two equations: (1) OA L sin = aB cos AB L sin , and (2) OA L cos = aB sin AB L cos . The acceleration of the center of mass of AB is aGAB = aA + AB rGAB/A i 0 = aA + L cos 2 aGAB = aA + from which (3) aGABx = OA L sin + (4) aGABy = OA L cos + LAB sin (m/s2 ), 2 j 0 L sin 2 AB , 0 k
The equations of motion for the right bar: (6) Ax B sin = maGABx , (7) Ay mg + B cos = maGABy , (8) Ay L cos + Ax 2 L sin + B 2 L sin cos 2
L cos sin = ICAB AB , 2 1 mL2 = 12 1 3 kg-m2 .
where IGAB =
LAB AB L sin i + cos j (m/s2 ), 2 2
These eight equations in eight unknowns are solved by iteration: Ax = 19.27 N, Ay = 1.15 N, OA = 0.425 rad/s2 , AB = 1.59 rad/s2 , B = 45.43 N, aGABx = 0.8610 m/s2 , aGABy = 0.2601 m/s2
LAB cos . 2
Problem 18.141 Each bar is 1 m in length and has a mass of 4 kg. The inclined surface is smooth. If the system is released from rest in the position shown, what is the magnitude of the force exerted on bar OA by the support at O at that instant? Solution: The acceleration of the center of mass of the bar OA is
aGOA = OA rG/A i 0 = aA + L cos 2 j 0 L sin 2 OA , 0 k
Ay Ax Fy mg Fx
Use the solution to Problem 18.140: = 45 , GA = 0.425 rad/s2 , Ax = 19.27 N, m = 4 kg, from which Fx = 18.67 N, Fy = 38.69 N, from which |F| =
2 + F 2 = 42.96 N Fx y
aGOA =
L sin L cos OA i + OA j (m/s2 ). 2 2
The equations of motion: Fx + Ax = maGOAx , Fy + Ay mg = maGOAy .
Problem 18.142 The xed ring gear lies in the horizontal plane. The hub and planet gears are bonded together. The mass and moment of inertia of the combined hub and planet gears are mHP = 130 kg and IHP = 130 kg-m2 . The moment of inertia of the sun gear is Is = 60 kg-m2 . The mass of the connecting rod is 5 kg, and it can be modeled as a slender bar. If a 1 kNm counterclockwise couple is applied to the sun gear, what is the resulting angular acceleration of the bonded hub and planet gears?
Planet gear Hub gear Connecting rod 140 mm 340 mm 240 mm 720 mm Sun gear Ring gear
Solution: The moment equation for the sun gear is

(1) M 0.24F = Is s .
Hub & Planet Gears
For the hub and planet gears: (2) (0.48)HP = 0.24s , (3) F Q R = mHP (0.14)(HP ), (4) (0.14)Q + 0.34F IHP (HP ). For the connecting rod: (5) (0.58)R = ICR CR , where ICR = 1 mGR (0.582 ) = 0.561 kg-m2 . 3
F F M
Sun Gear
Q R
Connecting Rod
(6) (0.58)CR = (0.14)HP . These six equations in six unknowns are solved by iteration: F = 1482.7 N, s = 10.74 rad/s2 , HP = 5.37 rad/s2 , Q = 1383.7 N, R = 1.25 N, CR = 1.296 rad/s2 .
Problem 18.143 The system is stationary at the instant shown. The net force exerted on the piston by the exploding fuel-air mixture and friction is 5 kN to the left. A clockwise couple M = 200 N-m acts on the crank AB . The moment of inertia of the crank about A is 0.0003 kg-m2 . The mass of the connecting rod BC is 0.36 kg, and its center of mass is 40 mm from B on the line from B to C . The connecting rods moment of inertia about its center of mass is 0.0004 kg-m2 . The mass of the piston is 4.6 kg. What is the pistons acceleration? (Neglect the gravitational forces on the crank and connecting rod.) Solution: From the law of sines:
sin sin 40 = , 0.05 0.125 from which = 14.9 . The vectors rB/A = 0.05(i cos 40 + j sin 40 )rB/A = 0.0383i + 0.0321j (m). rB/C = 0.125(i cos + j sin ) (m). rB/C = 0.121i + 0.0321, (m). The acceleration of point B is
2 r aB = AB rB/A AB B/A ,
125 m m
m m 50
B 40
A M
from which (3) aGCRx = aC 0.085BC sin (m/s2 ), (4) aGCRy = 0.085BC cos (m/s2 ). The equations of motion for the crank: (5) By (0.05 cos 40 ) Bx (0.05 sin 40 ) M = IA AB For the connecting rod: (6) Bx + Cx = mCR aGCRx (7) By + Cy = mCR aGCRy (8) Cy (0.085 cos ) + Cx (0.085 sin ) + Bx (0.04 sin )
i aB = 0 0.0383
j 0 0.0321
AB 0
+ By (0.04 cos ) = IGCR BC For the piston: (9) Cx 5000 = mP aC . These nine equations in nine unknowns are solved by iteration:
2 (0.0383i + 0.0321j) (m/s2 ). AB
The acceleration of point B in terms of the acceleration of point C is i = aC i + 0 0.121 j 0 0.0321 k AB = 1255.7 rad/s2 , BC = 398.2 rad/s2 , aGCRx = 44.45 m/s2 , aGCRy = 32.71 m/s2 , By = 1254.6 N, Bx = 4739.5 N, Cx = 4755.5 N, Cy = 1266.3 N, aC = 53.15 m/s2 .
aB = aC + BC rB/C
BC 0
2 (0.121i + 0.0321j) (m/s2 ). BC
Equate the two expressions for the acceleration of point B , note AB = BC = 0, and separate components: (1) 0.05AB sin 40 = aC 0.125BC sin , (2) 0.05AB cos 40 = 0.125BC cos . The acceleration of the center of mass of the connecting rod is aGCR =
2 r aC + BC rGCR/C BC GCR/C ,
B 0.05 A
Bx 0.125 G C By Cy Cx
40
aGCR = aC i +
i 0 0.085 cos
j 0 0.085 sin
BC 0
Cx
5000 N Ay Cy N M
By Bx Ax
2 (0.085 cos i + 0.085 sin j) (m/s2 ), BC
Problem 18.144 If the crank AB in Problem 18.143 has a counterclockwise angular velocity of 2000 rpm at the instant shown, what is the pistons acceleration? Solution: The angular velocity of AB is
AB = 2000 2 60 = 209.44 rad/s.
The angular velocity of the connecting rod BC is obtained from the expressions for the velocity at point B and the known value of AB : vB = AB rB/A = i 0 0.05 cos 40 j 0 0.05 sin 40 k AB . 0
vB = 0.05 sin 40 AB i + 0.05 cos 40 AB j (m/s). i vB = vC i + 0 0.125 cos j 0 0.125 sin k BC , 0
vB = vC i 0.125 sin BC i 0.125 cos BC j (m/s). From the j component, 0.05 cos 40 AB = 0.125 cos BC , from which BC = 66.4 rad/s. The nine equations in nine unknowns obtained in the solution to Problem 18.143 are
2 cos 40 (1) 0.05AB sin 40 0.05AB 2 cos , = aC 0.125BC sin + 0.125BC 2 sin 40 (2) 0.05AB cos 40 0.05AB 2 sin , = 0.125BC cos 0.125BC 2 cos (m/s2 ), (3) aGCRx = aC 0.085BC sin + 0.085BC 2 sin (m/s2 ), (4) aGCRy = 0.085BC cos 0.085BC
(5) By (0.05 cos 40 ) Bx (0.05 sin 40 ) M = IA AB , (6) Bx + Cx = mCR aGCRx , (7) By + Cy = mCR aGCRy , (8) Cy (0.085 cos ) + Cx (0.085 sin ) + Bx (0.04 sin ) + By (0.04 cos ) = IGCR BC . (9) Cx 5000 = mP aC . These nine equations in nine unknowns are solved by iteration: AB = 39, 386.4 rad/s2 BC = 22,985.9 rad/s2 , aGCRx = 348.34 m/s2 , aGCRy = 1984.5 m/s2 , By = 1626.7 N, Bx = 3916.7 N, Cx = 4042.1 N, Cy = 912.25 N, ac = 208.25 (m/s2 )

Engineering Mechanics Dynamic Bedford ch18

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Problem 18.1 A horizontal force F = 30 lb is applied to the 230-lb refrigerator as shown. Friction is negligible.

Fy : A + B 230 lb = 0 MG : (30 lb)(32 in.) A(14 in.) + B(14 in.) = 0 Solving we nd

Since A > 0 and B > 0 then our assumption is correct.

Solution: We are given that NA = 720 lb, NB = 1660 lb. We use

Solution: We are given

5 FA 1.0 m mg 1.5 m 1.5 m

Solution: Given: b = 21 in., c = 16 in., h = 38 in.

Fy : NA + NB (160 lb) = 0 MG : NA b + NB c FB h = 0 NA = 0 Solving we nd NB = 160 lb, FB = 67.4 lb, a = 13.6 ft/s2

Solution: The dynamics

Solution: The angular velocity is

Since the thruster res for one second, = 2 rad/s2 . 60

from which I= 4.26 = 40.7 kg-m2 2 60

Solution: The dynamics and kinematics:

Solving we nd 1 rev 2 rad 60 s 1 min

The angle of revolution in 4 seconds is n= A (42 ) = 2285.7 rad, 2

from which N= n = 363.8 revs 2

10 N-m 0.4 m 0.2 m A B 0.3 m C

Solution: The FBDs

6 6 ft (2 lb) ft = (0.4 lb-s2 -ft) 12 12 a= 6 ft 12

The kinematic constraint: Solving we nd

The kinematic constraint: Solving we nd

d = (12.3 rad/s2 ) sin d

(24.5 rad/s2 ) sin d

= (12.3 rad/s2 )[cos ]0 = 4.95 rad/s

The reaction at A: Ax = 0, Ay = 2Wb + 2Wb g ay = 20 + 20 (25.5) = 4.12 lb . 32.17

The center of mass of the system is m xC = L + mL 2 = 2.25 ft. 2m

The center of mass of the system is xC = m(L/2) + mL = 2.25 ft. 2m

Solution: The center of mass is located to the left of point D a

d = (23.1 rad/s2 ) sin = d

(23.1 rad/s2 ) sin d

Solution: The moment of inertia is I = mx 2 +

Take the derivative: d L2 = 0 = g x2 + dx 12 Solve: L x= , 12 3g = L

y 1.80 m 1.40 m B A 0.70 m 0.30 m 0.80 m x

Solution: The angle of the hydraulic cylinder with the horizontal

rG/O (mg j) + rB/O F = I0

Solution: Since the angular acceleration of arm BC is zero, the

The acceleration of the center of mass is

Solution: The acceleration of point B is aB = aA + AB 2 r rA/B AB A/B or

(0.6)2 (0.76 cos 15 i 0.76 sin 15 j) = 0.323i 0.149j (m/s )

The acceleration of the center of mass G of arm BC is

Solving for MB , we obtain MB = 62.6 N-m.

The equation of angular motion is M = 12,960 (0.5)N = 75,000. (2)

Solving Equations (1)(3), the angular acceleration is = 0.200 rad/s2

Solution: Given: R = 80 mm, g = 9.81 m/s2 , = 30 , no slip

For one revolution = 2 rad = (20.4 rad/s2 )t 2 t = 0.554 s (b) = 0.192

Solution: Choose a coordinate system with the x axis parallel to

The ratio of the times is tring 2 = = tdisk 3 4 3

From the constraint on the motion, aCM = ax i, from which ax = R , or = ax . R

Substitute and solve: ax = mg sin . I + m R2

The time required to fall a distance D is 2D = ay 2D(I + R 2 m) . R2 W

T2 + mg = may Adding the two equations, we get T1 + mg = m + I0 R2 ax

Let c = (m + I0 /R 2 ) and multiply the expression by 2. cv 2 = 2mgx kx 2 c2v dv = 2mg 2kx dx

dv mg Setting = 0, x = dx k Evaluating v at this value of x yields

m2 g 2 , or vmax = 1.09 m/s ck

1 MG : F R = mR 2 2 (a) The ramp is smooth F = 0. Solving we nd a=v

dv = (16.1 ft/s2 ) (8.05 s2 )x dx

[(16.1 ft/s2 ) (8.05 s2 )x ]d x

dv = (10.73 ft/s2 ) (5.37 s2 )x dx

[(10.73 ft/s2 ) (5.37 s2 )x ]d x

Solving for the time we nd t = 1.97 s v = 3.81 ft/s

Solution: Given = 0.32, r = 0.112 m, g = 9.81 m/s2 , v0 =

from which ay = 0 and ax = R . Substitute for f and solve: ax = 2F I m+ 2 R .